diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-44-31_1137949908/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-44-31_1137949908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb8c2f99e1c1c46f23e7d2489f20ee2c90c5705f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-44-31_1137949908/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1218.862007778525, + 189.77126985391888, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1220.362007778525, + 192.3693460652722, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1221.862007778525, + 194.9674222766255, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1223.362007778525, + 197.56549848797883, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1224.862007778525, + 200.16357469933214, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1226.362007778525, + 202.76165091068546, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1227.862007778525, + 205.35972712203878, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1229.362007778525, + 207.9578033333921, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1230.862007778525, + 210.5558795447454, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1232.362007778525, + 213.15395575609872, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1233.862007778525, + 215.75203196745204, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1235.362007778525, + 218.35010817880536, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1236.862007778525, + 220.94818439015867, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1238.362007778525, + 223.546260601512, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1239.862007778525, + 226.1443368128653, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1241.362007778525, + 228.74241302421862, + 2.5162568094915923 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1241.362007778525, + 228.74241302421862, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1241.362007778525, + 231.74241302421862, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1241.362007778525, + 234.74241302421862, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1241.362007778525, + 237.74241302421862, + 2.5162568094915923 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1241.362007778525, + 237.74241302421862, + 2.5162568094915923 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1241.362007778525, + 237.74241302421862, + 2.5162568094915923 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1241.362007778525, + 237.74241302421862, + 2.5162568094915923 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1241.362007778525, + 237.74241302421862, + 2.5162568094915923 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1241.362007778525, + 237.74241302421862, + 2.5162568094915923 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1241.362007778525, + 237.74241302421862, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1242.862007778525, + 235.1443368128653, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1244.362007778525, + 232.546260601512, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1245.862007778525, + 229.94818439015867, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1247.362007778525, + 227.35010817880536, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1248.862007778525, + 224.75203196745204, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1250.362007778525, + 222.15395575609872, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1251.862007778525, + 219.5558795447454, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1253.362007778525, + 216.9578033333921, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1254.862007778525, + 214.35972712203878, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1256.362007778525, + 211.76165091068546, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1257.862007778525, + 209.16357469933214, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1259.362007778525, + 206.56549848797883, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1260.862007778525, + 203.9674222766255, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1262.362007778525, + 201.3693460652722, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1263.862007778525, + 198.77126985391888, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1265.362007778525, + 196.17319364256556, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1266.862007778525, + 193.57511743121225, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1268.362007778525, + 190.97704121985893, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1269.862007778525, + 188.37896500850562, + 2.5162568094915923 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1269.862007778525, + 188.37896500850562, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1269.862007778525, + 185.37896500850562, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1269.862007778525, + 182.37896500850562, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1269.862007778525, + 179.37896500850562, + 2.5162568094915923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1269.862007778525, + 176.37896500850562, + 2.5162568094915923 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-45-8_1277849958/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-45-8_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37b829ceff47c7573b0e0ea72fbb62012bf8d28a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-45-8_1277849958/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1373.6793058582512, + 86.96407082944704, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1375.1793058582512, + 89.56214704080035, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1376.6793058582512, + 92.16022325215367, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1378.1793058582512, + 94.75829946350699, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1379.6793058582512, + 97.3563756748603, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1381.1793058582512, + 99.95445188621362, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1382.6793058582512, + 102.55252809756693, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1384.1793058582512, + 105.15060430892025, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1385.6793058582512, + 107.74868052027357, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1387.1793058582512, + 110.34675673162688, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1388.6793058582512, + 112.9448329429802, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1390.1793058582512, + 115.54290915433351, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1391.6793058582512, + 118.14098536568683, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1393.1793058582512, + 120.73906157704015, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1394.6793058582512, + 123.33713778839346, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1396.1793058582512, + 125.93521399974678, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1397.6793058582512, + 128.5332902111001, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1399.1793058582512, + 131.13136642245343, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1400.6793058582512, + 133.72944263380674, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1402.1793058582512, + 136.32751884516006, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1403.6793058582512, + 138.92559505651337, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1405.1793058582512, + 141.5236712678667, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1406.6793058582512, + 144.12174747922, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1408.1793058582512, + 146.71982369057332, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1409.6793058582512, + 149.31789990192664, + -2.3763152963597123 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1409.6793058582512, + 149.31789990192664, + -2.3763152963597123 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1409.6793058582512, + 149.31789990192664, + -2.3763152963597123 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1409.6793058582512, + 149.31789990192664, + -2.3763152963597123 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1409.6793058582512, + 149.31789990192664, + -2.3763152963597123 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1409.6793058582512, + 149.31789990192664, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1411.1793058582512, + 146.71982369057332, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1412.6793058582512, + 144.12174747922, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1414.1793058582512, + 141.5236712678667, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1415.6793058582512, + 138.92559505651337, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1417.1793058582512, + 136.32751884516006, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1418.6793058582512, + 133.72944263380674, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1420.1793058582512, + 131.13136642245343, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1421.6793058582512, + 128.5332902111001, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1423.1793058582512, + 125.9352139997468, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1424.6793058582512, + 123.33713778839348, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1426.1793058582512, + 120.73906157704016, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1427.6793058582512, + 118.14098536568684, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1429.1793058582512, + 115.54290915433353, + -2.3763152963597123 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1429.1793058582512, + 115.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1429.1793058582512, + 112.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1429.1793058582512, + 109.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1429.1793058582512, + 106.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1429.1793058582512, + 103.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1429.1793058582512, + 100.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1429.1793058582512, + 97.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1429.1793058582512, + 94.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1429.1793058582512, + 91.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1429.1793058582512, + 88.54290915433353, + -2.3763152963597123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1429.1793058582512, + 85.54290915433353, + -2.3763152963597123 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-46-3_777210498/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-46-3_777210498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..473078c7402549999727878e1dd83650288097d5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-46-3_777210498/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 575.2885358360911, + -14.168570401440618, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 576.7885358360911, + -11.570494190087302, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 578.2885358360911, + -8.972417978733986, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 579.7885358360911, + -6.37434176738067, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 581.2885358360911, + -3.7762655560273544, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 582.7885358360911, + -1.1781893446740384, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 584.2885358360911, + 1.4198868666792777, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 585.7885358360911, + 4.017963078032594, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 587.2885358360911, + 6.61603928938591, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 588.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 588.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 588.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 588.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 591.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 594.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 597.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 600.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 603.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 606.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 609.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 612.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 615.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 618.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 621.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 624.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 627.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 630.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 633.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 636.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 639.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 642.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 642.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 642.7885358360911, + 9.214115500739226, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 644.2885358360911, + 6.61603928938591, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 645.7885358360911, + 4.017963078032594, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 647.2885358360911, + 1.4198868666792777, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 648.7885358360911, + -1.1781893446740384, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 650.2885358360911, + -3.7762655560273544, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 651.7885358360911, + -6.37434176738067, + 0.3039807312925902 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 651.7885358360911, + -6.37434176738067, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 654.3866120474445, + -7.87434176738067, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 656.9846882587979, + -9.37434176738067, + 0.3039807312925902 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 659.5827644701512, + -10.87434176738067, + 0.3039807312925902 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-47-12_1908518808/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-47-12_1908518808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10ca5b18d63c0c70aa6fb97612bcc5baf9f157f4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-47-12_1908518808/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 363.62349377920464, + -21.308673795799322, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 363.62349377920464, + -24.308673795799322, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.62349377920464, + -27.308673795799322, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 363.62349377920464, + -30.308673795799322, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 363.62349377920464, + -33.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 363.62349377920464, + -36.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 363.62349377920464, + -39.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 363.62349377920464, + -42.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.62349377920464, + -45.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 363.62349377920464, + -48.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 363.62349377920464, + -51.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 363.62349377920464, + -54.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 363.62349377920464, + -57.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 363.62349377920464, + -60.30867379579932, + 1.2986725648909996 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 363.62349377920464, + -60.30867379579932, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 365.12349377920464, + -62.90675000715264, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 366.62349377920464, + -65.50482621850595, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 368.12349377920464, + -68.10290242985927, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 369.62349377920464, + -70.70097864121259, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 371.12349377920464, + -73.2990548525659, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 372.62349377920464, + -75.89713106391922, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 374.12349377920464, + -78.49520727527253, + 1.2986725648909996 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 374.12349377920464, + -78.49520727527253, + 1.2986725648909996 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 374.12349377920464, + -78.49520727527253, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 372.62349377920464, + -81.09328348662585, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 371.12349377920464, + -83.69135969797917, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 369.62349377920464, + -86.28943590933248, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 368.12349377920464, + -88.8875121206858, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 366.62349377920464, + -91.48558833203911, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 365.12349377920464, + -94.08366454339243, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 363.62349377920464, + -96.68174075474575, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 362.12349377920464, + -99.27981696609906, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 360.62349377920464, + -101.87789317745238, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 359.12349377920464, + -104.4759693888057, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 357.62349377920464, + -107.07404560015901, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 356.12349377920464, + -109.67212181151233, + 1.2986725648909996 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 356.12349377920464, + -109.67212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 353.5254175678513, + -111.17212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 350.927341356498, + -112.67212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 348.3292651451447, + -114.17212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 345.7311889337914, + -115.67212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 343.13311272243806, + -117.17212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 340.53503651108474, + -118.67212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 337.9369602997314, + -120.17212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 335.3388840883781, + -121.67212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 332.7408078770248, + -123.17212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 330.1427316656715, + -124.67212181151233, + 1.2986725648909996 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 330.1427316656715, + -124.67212181151233, + 1.2986725648909996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 328.6427316656715, + -127.27019802286564, + 1.2986725648909996 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-48-29_1309383303/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-48-29_1309383303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f6c5d9053ff1b73dc23626669f826d4a58ba06a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-48-29_1309383303/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 909.8849792322593, + -338.09253304050196, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 909.8849792322593, + -341.09253304050196, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 909.8849792322593, + -344.09253304050196, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 909.8849792322593, + -347.09253304050196, + -0.2556565697925439 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 909.8849792322593, + -347.09253304050196, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 908.3849792322593, + -349.6906092518553, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 906.8849792322593, + -352.2886854632086, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 905.3849792322593, + -354.8867616745619, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 903.8849792322593, + -357.4848378859152, + -0.2556565697925439 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 903.8849792322593, + -357.4848378859152, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 901.286903020906, + -358.9848378859152, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 898.6888268095527, + -360.4848378859152, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 896.0907505981993, + -361.9848378859152, + -0.2556565697925439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 893.4926743868459, + -363.4848378859152, + -0.2556565697925439 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-50-56_150517567/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-50-56_150517567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c0587129c2126725ce932610e0ca0d57aa26238 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-50-56_150517567/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1171.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1174.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1177.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1180.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1183.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1186.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1189.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1192.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1195.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1198.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1201.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1204.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1207.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1210.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1213.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1216.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1219.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1219.4624829378915, + 256.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1222.060559149245, + 255.0038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1224.6586353605983, + 253.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1227.2567115719517, + 252.0038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1229.854787783305, + 250.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1232.4528639946584, + 249.0038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1235.0509402060118, + 247.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1237.6490164173651, + 246.0038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1240.2470926287185, + 244.5038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1242.845168840072, + 243.0038400891853, + 2.0089831513793923 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1242.845168840072, + 243.0038400891853, + 2.0089831513793923 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1242.845168840072, + 243.0038400891853, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1244.345168840072, + 240.405763877832, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1245.845168840072, + 237.80768766647867, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1247.345168840072, + 235.20961145512535, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1248.845168840072, + 232.61153524377204, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1250.345168840072, + 230.01345903241872, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1251.845168840072, + 227.4153828210654, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1253.345168840072, + 224.8173066097121, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1254.845168840072, + 222.21923039835877, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1256.345168840072, + 219.62115418700546, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1257.845168840072, + 217.02307797565214, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1259.345168840072, + 214.42500176429883, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1260.845168840072, + 211.8269255529455, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1262.345168840072, + 209.2288493415922, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1263.845168840072, + 206.63077313023888, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1265.345168840072, + 204.03269691888556, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1266.845168840072, + 201.43462070753225, + 2.0089831513793923 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1266.845168840072, + 201.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1266.845168840072, + 198.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1266.845168840072, + 195.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1266.845168840072, + 192.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1266.845168840072, + 189.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1266.845168840072, + 186.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1266.845168840072, + 183.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1266.845168840072, + 180.43462070753225, + 2.0089831513793923 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1266.845168840072, + 177.43462070753225, + 2.0089831513793923 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-52-59_484238046/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-52-59_484238046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afca71deccb68f5ce2a456036b2c71b3a60bc6ee --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-52-59_484238046/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 310.1392165174763, + 120.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 307.541140306123, + 121.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 304.9430640947697, + 123.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 302.34498788341637, + 124.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 299.74691167206305, + 126.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 297.14883546070973, + 127.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 294.5507592493564, + 129.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 291.9526830380031, + 130.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 289.3546068266498, + 132.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 286.75653061529647, + 133.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 284.15845440394315, + 135.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 281.56037819258984, + 136.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 278.9623019812365, + 138.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 276.3642257698832, + 139.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 273.7661495585299, + 141.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 271.1680733471766, + 142.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 268.56999713582326, + 144.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 265.97192092446994, + 145.58154094121173, + 2.8735383181035132 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 265.97192092446994, + 145.58154094121173, + 2.8735383181035132 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 265.97192092446994, + 145.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 3.6651914291880923 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 263.3738447131166, + 144.08154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 260.7757685017633, + 142.58154094121173, + 2.8735383181035132 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 260.7757685017633, + 142.58154094121173, + 2.8735383181035132 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 260.7757685017633, + 142.58154094121173, + 2.8735383181035132 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 260.7757685017633, + 142.58154094121173, + 2.8735383181035132 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 260.7757685017633, + 142.58154094121173, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 259.2757685017633, + 145.17961715256504, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 257.7757685017633, + 147.77769336391836, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 256.2757685017633, + 150.37576957527168, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 254.7757685017633, + 152.973845786625, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 253.2757685017633, + 155.5719219979783, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 251.7757685017633, + 158.16999820933162, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 250.2757685017633, + 160.76807442068494, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 248.7757685017633, + 163.36615063203826, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 247.2757685017633, + 165.96422684339157, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 245.7757685017633, + 168.5623030547449, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 244.2757685017633, + 171.1603792660982, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 242.7757685017633, + 173.75845547745152, + 2.8735383181035132 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 242.7757685017633, + 173.75845547745152, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 242.7757685017633, + 176.75845547745152, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 242.7757685017633, + 179.75845547745152, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 242.7757685017633, + 182.75845547745152, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 242.7757685017633, + 185.75845547745152, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 242.7757685017633, + 188.75845547745152, + 2.8735383181035132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 242.7757685017633, + 191.75845547745152, + 2.8735383181035132 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-58-4_1671294892/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-58-4_1671294892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..376fb46bf818fe00bcaaa42b10355386b978e6b3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-58-4_1671294892/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1487.4523406528465, + -132.33397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1484.8542644414931, + -130.83397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1482.2561882301397, + -129.33397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1479.6581120187864, + -127.83397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1477.060035807433, + -126.33397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1474.4619595960796, + -124.83397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1471.8638833847263, + -123.33397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1469.2658071733729, + -121.83397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1466.6677309620195, + -120.33397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1464.0696547506661, + -118.83397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1461.4715785393128, + -117.33397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1458.8735023279594, + -115.83397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1456.275426116606, + -114.33397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1453.6773499052526, + -112.83397119007242, + 3.934315065023057 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1453.6773499052526, + -112.83397119007242, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1452.1773499052526, + -110.2358949787191, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1450.6773499052526, + -107.63781876736579, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1449.1773499052526, + -105.03974255601247, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1447.6773499052526, + -102.44166634465915, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1446.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1446.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1446.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1446.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1446.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1446.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1449.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1452.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1455.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1458.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1461.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1464.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1467.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1470.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1473.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1476.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1479.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1482.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1485.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1485.1773499052526, + -99.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1487.775426116606, + -101.34359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1490.3735023279594, + -102.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1492.9715785393128, + -104.34359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1495.5696547506661, + -105.84359013330584, + 3.934315065023057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1498.1677309620195, + -107.34359013330584, + 3.934315065023057 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-59-4_1795519125/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-59-4_1795519125/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bc031a4cf0ef9b01712d084225f7b082557593e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-59-4_1795519125/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1307.0162095424507, + -293.1351241574491, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1305.5162095424507, + -290.5370479460958, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1304.0162095424507, + -287.9389717347425, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1302.5162095424507, + -285.3408955233892, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1301.0162095424507, + -282.74281931203586, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1299.5162095424507, + -280.14474310068255, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1298.0162095424507, + -277.54666688932923, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1296.5162095424507, + -274.9485906779759, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1295.0162095424507, + -272.3505144666226, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1293.5162095424507, + -269.7524382552693, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1292.0162095424507, + -267.15436204391597, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1290.5162095424507, + -264.55628583256265, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1289.0162095424507, + -261.95820962120933, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1287.5162095424507, + -259.360133409856, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1286.0162095424507, + -256.7620571985027, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1284.5162095424507, + -254.1639809871494, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1283.0162095424507, + -251.56590477579607, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1281.5162095424507, + -248.96782856444275, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1280.0162095424507, + -246.36975235308944, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1278.5162095424507, + -243.77167614173612, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1277.0162095424507, + -241.1735999303828, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1275.5162095424507, + -238.5755237190295, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1274.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1274.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1274.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1274.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1274.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1274.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1277.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1280.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1283.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1286.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1289.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1292.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1295.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1298.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1301.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1304.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1307.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1310.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1313.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1316.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1316.0162095424507, + -235.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1318.614285753804, + -234.47744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1321.2123619651575, + -232.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1323.8104381765108, + -231.47744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1326.4085143878642, + -229.97744750767617, + -4.220567977824842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1329.0065905992176, + -228.47744750767617, + -4.220567977824842 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-7-38_1335939811/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-7-38_1335939811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37d4fc2be8f578f3e8e617317d4c0015739240f6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_17-7-38_1335939811/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1436.7536128267297, + -56.284494574937256, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1438.2536128267297, + -53.68641836358394, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1439.7536128267297, + -51.088342152230624, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1441.2536128267297, + -48.49026594087731, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1442.7536128267297, + -45.89218972952399, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1444.2536128267297, + -43.294113518170676, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1445.7536128267297, + -40.69603730681736, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1447.2536128267297, + -38.09796109546404, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1448.7536128267297, + -35.49988488411073, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1450.2536128267297, + -32.90180867275741, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1451.7536128267297, + -30.303732461404095, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1453.2536128267297, + -27.70565625005078, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1454.7536128267297, + -25.107580038697463, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1456.2536128267297, + -22.509503827344147, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1457.7536128267297, + -19.91142761599083, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1459.2536128267297, + -17.313351404637515, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1460.7536128267297, + -14.7152751932842, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1462.2536128267297, + -12.117198981930883, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1463.7536128267297, + -9.519122770577567, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1465.2536128267297, + -6.921046559224251, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1466.7536128267297, + -4.322970347870935, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1468.2536128267297, + -1.7248941365176194, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1469.7536128267297, + 0.8731820748356967, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1471.2536128267297, + 3.4712582861890127, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1472.7536128267297, + 6.069334497542329, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1474.2536128267297, + 8.667410708895645, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1475.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1475.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1475.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1475.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1478.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1481.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1484.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1487.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1487.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1487.7536128267297, + 11.26548692024896, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1489.2536128267297, + 8.667410708895645, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1490.7536128267297, + 6.069334497542329, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1492.2536128267297, + 3.4712582861890127, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1493.7536128267297, + 0.8731820748356967, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1495.2536128267297, + -1.7248941365176194, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1496.7536128267297, + -4.322970347870935, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1498.2536128267297, + -6.921046559224251, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1499.7536128267297, + -9.519122770577567, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1501.2536128267297, + -12.117198981930883, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1502.7536128267297, + -14.7152751932842, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1504.2536128267297, + -17.313351404637515, + -3.912039386438055 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1504.2536128267297, + -17.313351404637515, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1506.8516890380831, + -18.813351404637515, + -3.912039386438055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1509.4497652494365, + -20.313351404637515, + -3.912039386438055 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-0-19_425245975/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-0-19_425245975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64af8a6e08fd050ed7904a1d64a8ca341b3f70fd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-0-19_425245975/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1156.2846879077817, + -140.7853152835411, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1154.7846879077817, + -143.38339149489443, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1153.2846879077817, + -145.98146770624774, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1151.7846879077817, + -148.57954391760106, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1150.2846879077817, + -151.17762012895437, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1148.7846879077817, + -153.7756963403077, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1147.2846879077817, + -156.373772551661, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1145.7846879077817, + -158.97184876301432, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1144.2846879077817, + -161.56992497436764, + -1.8926393011920717 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1144.2846879077817, + -161.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1144.2846879077817, + -164.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1144.2846879077817, + -167.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1144.2846879077817, + -170.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1144.2846879077817, + -173.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1144.2846879077817, + -176.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1144.2846879077817, + -179.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1144.2846879077817, + -182.56992497436764, + -1.8926393011920717 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1144.2846879077817, + -182.56992497436764, + -1.8926393011920717 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1144.2846879077817, + -182.56992497436764, + -1.8926393011920717 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1144.2846879077817, + -182.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1141.6866116964284, + -184.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1139.088535485075, + -185.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1136.4904592737216, + -187.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1133.8923830623683, + -188.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1131.2943068510149, + -190.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1128.6962306396615, + -191.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1126.0981544283081, + -193.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1123.5000782169548, + -194.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1120.9020020056014, + -196.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1118.303925794248, + -197.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1115.7058495828946, + -199.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1113.1077733715413, + -200.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1110.509697160188, + -202.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1107.9116209488345, + -203.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1105.3135447374812, + -205.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1102.7154685261278, + -206.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1100.1173923147744, + -208.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1097.519316103421, + -209.56992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1094.9212398920677, + -211.06992497436764, + -1.8926393011920717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1092.3231636807143, + -212.56992497436764, + -1.8926393011920717 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-1-28_235649157/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-1-28_235649157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22644462594b5c183f269548295942b52238ac75 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-1-28_235649157/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 885.7757137509041, + -326.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 885.7757137509041, + -329.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 885.7757137509041, + -332.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 885.7757137509041, + -335.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 885.7757137509041, + -338.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 885.7757137509041, + -341.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 885.7757137509041, + -344.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 885.7757137509041, + -347.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 885.7757137509041, + -350.6872075971817, + 1.6708461181387646 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 885.7757137509041, + -350.6872075971817, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 884.2757137509041, + -353.28528380853504, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 882.7757137509041, + -355.88336001988836, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 881.2757137509041, + -358.4814362312417, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 879.7757137509041, + -361.079512442595, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 878.2757137509041, + -363.6775886539483, + 1.6708461181387646 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 878.2757137509041, + -363.6775886539483, + 1.6708461181387646 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 878.2757137509041, + -363.6775886539483, + 1.6708461181387646 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 878.2757137509041, + -363.6775886539483, + 1.6708461181387646 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 878.2757137509041, + -363.6775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 880.8737899622574, + -365.1775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 883.4718661736108, + -366.6775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 886.0699423849642, + -368.1775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 888.6680185963176, + -369.6775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 891.2660948076709, + -371.1775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 893.8641710190243, + -372.6775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 896.4622472303777, + -374.1775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 899.060323441731, + -375.6775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 901.6583996530844, + -377.1775886539483, + 1.6708461181387646 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 901.6583996530844, + -377.1775886539483, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 903.1583996530844, + -379.7756648653016, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 904.6583996530844, + -382.37374107665494, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 906.1583996530844, + -384.97181728800825, + 1.6708461181387646 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 907.6583996530844, + -387.56989349936157, + 1.6708461181387646 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-10-14_655858699/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-10-14_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b4b625a625043eb8639f6333a1ff1393bd67146 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-10-14_655858699/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 341.1168775661943, + -230.0628602691102, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 342.6168775661943, + -232.6609364804635, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 344.1168775661943, + -235.25901269181682, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 345.6168775661943, + -237.85708890317014, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 347.1168775661943, + -240.45516511452345, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 348.6168775661943, + -243.05324132587677, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 350.1168775661943, + -245.65131753723009, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 351.6168775661943, + -248.2493937485834, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 353.1168775661943, + -250.84746995993672, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 354.6168775661943, + -253.44554617129003, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 356.1168775661943, + -256.0436223826433, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196593 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 357.6168775661943, + -258.64169859399664, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 359.1168775661943, + -261.23977480534995, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 360.6168775661943, + -263.83785101670327, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.1168775661943, + -266.4359272280566, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 363.6168775661943, + -269.0340034394099, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 365.1168775661943, + -271.6320796507632, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.6168775661943, + -274.23015586211653, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 368.1168775661943, + -276.82823207346985, + -4.91507103578811 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 368.1168775661943, + -276.82823207346985, + -4.91507103578811 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 368.1168775661943, + -276.82823207346985, + -4.91507103578811 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 368.1168775661943, + -276.82823207346985, + -4.91507103578811 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 368.1168775661943, + -276.82823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 370.71495377754763, + -275.32823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 373.31302998890095, + -273.82823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 375.91110620025427, + -272.32823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 378.5091824116076, + -270.82823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 381.1072586229609, + -269.32823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 383.7053348343142, + -267.82823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 386.30341104566753, + -266.32823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 388.90148725702085, + -264.82823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 391.49956346837416, + -263.32823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 394.0976396797275, + -261.82823207346985, + -4.91507103578811 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 394.0976396797275, + -261.82823207346985, + -4.91507103578811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 397.0976396797275, + -261.82823207346985, + -4.91507103578811 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-12-3_1186090428/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-12-3_1186090428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05faefd622ee9b0f01c1454af4a012a6855c1c3e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-12-3_1186090428/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 731.8943353413597, + 2.768579345638507, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 728.8943353413597, + 2.7685793456385075, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 725.8943353413597, + 2.768579345638508, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 722.8943353413597, + 2.7685793456385084, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 719.8943353413597, + 2.768579345638509, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 716.8943353413597, + 2.7685793456385093, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 713.8943353413597, + 2.7685793456385097, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 710.8943353413597, + 2.76857934563851, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 707.8943353413597, + 2.7685793456385106, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 704.8943353413597, + 2.768579345638511, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 701.8943353413597, + 2.7685793456385115, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 698.8943353413597, + 2.768579345638512, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 695.8943353413597, + 2.7685793456385124, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 692.8943353413597, + 2.768579345638513, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 689.8943353413597, + 2.7685793456385133, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 686.8943353413597, + 2.7685793456385137, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 683.8943353413597, + 2.768579345638514, + -0.6082969893616399 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 683.8943353413597, + 2.768579345638514, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 681.2962591300063, + 1.2685793456385144, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 678.698182918653, + -0.2314206543614854, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 676.1001067072996, + -1.7314206543614852, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 673.5020304959462, + -3.231420654361485, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 670.9039542845928, + -4.731420654361485, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 668.3058780732395, + -6.231420654361485, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 665.7078018618861, + -7.731420654361485, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 663.1097256505327, + -9.231420654361484, + -0.6082969893616399 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 663.1097256505327, + -9.231420654361484, + -0.6082969893616399 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 663.1097256505327, + -9.231420654361484, + -0.6082969893616399 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 663.1097256505327, + -9.231420654361484, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 663.1097256505327, + -12.231420654361484, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 663.1097256505327, + -15.231420654361484, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 663.1097256505327, + -18.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 663.1097256505327, + -21.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 663.1097256505327, + -24.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 663.1097256505327, + -27.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 663.1097256505327, + -30.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 663.1097256505327, + -33.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 663.1097256505327, + -36.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 663.1097256505327, + -39.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 663.1097256505327, + -42.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 663.1097256505327, + -45.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 663.1097256505327, + -48.231420654361486, + -0.6082969893616399 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 663.1097256505327, + -48.231420654361486, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 664.6097256505327, + -50.8294968657148, + -0.6082969893616399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 666.1097256505327, + -53.42757307706812, + -0.6082969893616399 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-13-3_1473144500/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-13-3_1473144500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..033f19c6f7e3c5658d76785b5642ea21b16d8d78 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-13-3_1473144500/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1343.644272336967, + -248.2896693706302, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1345.144272336967, + -245.6915931592769, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1346.644272336967, + -243.09351694792358, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1348.144272336967, + -240.49544073657026, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1349.644272336967, + -237.89736452521694, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1351.144272336967, + -235.29928831386363, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1352.644272336967, + -232.7012121025103, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1354.144272336967, + -230.103135891157, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1355.644272336967, + -227.50505967980368, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1357.144272336967, + -224.90698346845036, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1358.644272336967, + -222.30890725709705, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1360.144272336967, + -219.71083104574373, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1361.644272336967, + -217.11275483439042, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1363.144272336967, + -214.5146786230371, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1364.644272336967, + -211.91660241168378, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1366.144272336967, + -209.31852620033047, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1367.644272336967, + -206.72044998897715, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1369.144272336967, + -204.12237377762384, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1370.644272336967, + -201.52429756627052, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1372.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1372.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1372.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1372.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1375.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1378.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1381.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1384.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1387.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1390.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1393.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1396.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1399.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1402.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1405.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1408.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1411.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1414.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1414.144272336967, + -198.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1416.7423485483205, + -197.4262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1419.3404247596739, + -195.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1421.9385009710272, + -194.4262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1424.5365771823806, + -192.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1427.134653393734, + -191.4262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1429.7327296050873, + -189.9262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1432.3308058164407, + -188.4262213549172, + 0.11970520757828673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1434.928882027794, + -186.9262213549172, + 0.11970520757828673 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-14-0_1498617647/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-14-0_1498617647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c17df5754dd8eb80ed0adf16a7f497465af67517 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-14-0_1498617647/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1416.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1419.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1422.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1425.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1428.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1431.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1434.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1437.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1440.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1443.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1446.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1449.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1452.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1455.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1458.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1461.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1464.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1464.2838972087754, + 3.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1466.8819734201288, + 4.973033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1469.4800496314822, + 6.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1472.0781258428356, + 7.973033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1474.676202054189, + 9.473033538180921, + 1.017301993602099 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1474.676202054189, + 9.473033538180921, + 1.017301993602099 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1474.676202054189, + 9.473033538180921, + 1.017301993602099 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1474.676202054189, + 9.473033538180921, + 1.017301993602099 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1474.676202054189, + 9.473033538180921, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1473.176202054189, + 12.071109749534237, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1471.676202054189, + 14.669185960887553, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1470.176202054189, + 17.26726217224087, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1468.676202054189, + 19.865338383594185, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1467.176202054189, + 22.4634145949475, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1465.676202054189, + 25.061490806300817, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1464.176202054189, + 27.659567017654133, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1462.676202054189, + 30.25764322900745, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1461.176202054189, + 32.855719440360765, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1459.676202054189, + 35.45379565171408, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1458.176202054189, + 38.0518718630674, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1456.676202054189, + 40.64994807442071, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1455.176202054189, + 43.24802428577403, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1453.676202054189, + 45.846100497127345, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1452.176202054189, + 48.44417670848066, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1450.676202054189, + 51.04225291983398, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1449.176202054189, + 53.64032913118729, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1447.676202054189, + 56.23840534254061, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1446.176202054189, + 58.836481553893925, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1444.676202054189, + 61.43455776524724, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1443.176202054189, + 64.03263397660055, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1441.676202054189, + 66.63071018795387, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1440.176202054189, + 69.22878639930718, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1438.676202054189, + 71.8268626106605, + 1.017301993602099 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1438.676202054189, + 71.8268626106605, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1436.0781258428356, + 73.3268626106605, + 1.017301993602099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1433.4800496314822, + 74.8268626106605, + 1.017301993602099 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-17-0_1812282134/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-17-0_1812282134/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a012f685e95c703242a8ea7b1a1531c6fcd33987 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-17-0_1812282134/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1404.255515758653, + -56.276151709590906, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1405.755515758653, + -53.67807549823759, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1407.255515758653, + -51.079999286884274, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1408.755515758653, + -48.48192307553096, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1410.255515758653, + -45.88384686417764, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1411.755515758653, + -43.285770652824326, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1413.255515758653, + -40.68769444147101, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1414.755515758653, + -38.08961823011769, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1416.255515758653, + -35.49154201876438, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1417.755515758653, + -32.89346580741106, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1419.255515758653, + -30.295389596057746, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1420.755515758653, + -27.69731338470443, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1422.255515758653, + -25.099237173351113, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1423.755515758653, + -22.501160961997797, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1425.255515758653, + -19.90308475064448, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1426.755515758653, + -17.305008539291165, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1428.255515758653, + -14.70693232793785, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1429.755515758653, + -12.108856116584533, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1431.255515758653, + -9.510779905231217, + 3.31588692301718 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1431.255515758653, + -9.510779905231217, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1433.8535919700064, + -8.010779905231217, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1436.4516681813598, + -6.510779905231217, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1439.0497443927131, + -5.010779905231217, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1441.6478206040665, + -3.5107799052312174, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1444.2458968154199, + -2.0107799052312174, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1446.8439730267733, + -0.5107799052312176, + 3.31588692301718 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1446.8439730267733, + -0.5107799052312176, + 3.31588692301718 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1446.8439730267733, + -0.5107799052312176, + 3.31588692301718 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1446.8439730267733, + -0.5107799052312176, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1446.8439730267733, + 2.4892200947687826, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1446.8439730267733, + 5.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1446.8439730267733, + 8.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1446.8439730267733, + 11.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1446.8439730267733, + 14.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1446.8439730267733, + 17.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1446.8439730267733, + 20.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1446.8439730267733, + 23.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1446.8439730267733, + 26.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1446.8439730267733, + 29.489220094768783, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1446.8439730267733, + 32.48922009476878, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1446.8439730267733, + 35.48922009476878, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1446.8439730267733, + 38.48922009476878, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1446.8439730267733, + 41.48922009476878, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1446.8439730267733, + 44.48922009476878, + 3.31588692301718 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1446.8439730267733, + 44.48922009476878, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1445.3439730267733, + 47.0872963061221, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1443.8439730267733, + 49.685372517475415, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1442.3439730267733, + 52.28344872882873, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1440.8439730267733, + 54.88152494018205, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1439.3439730267733, + 57.47960115153536, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1437.8439730267733, + 60.07767736288868, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1436.3439730267733, + 62.675753574241995, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1434.8439730267733, + 65.27382978559531, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1433.3439730267733, + 67.87190599694863, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1431.8439730267733, + 70.46998220830194, + 3.31588692301718 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1431.8439730267733, + 70.46998220830194, + 3.31588692301718 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1431.8439730267733, + 73.46998220830194, + 3.31588692301718 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-19-47_1543755629/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-19-47_1543755629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe4744f23250194bc556669d685a8be77e1beb4d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-19-47_1543755629/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1263.462277739181, + 317.19588920593173, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1264.962277739181, + 314.5978129945784, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1266.462277739181, + 311.9997367832251, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1267.962277739181, + 309.4016605718718, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1269.462277739181, + 306.80358436051847, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1270.962277739181, + 304.20550814916515, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1272.462277739181, + 301.60743193781184, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1273.962277739181, + 299.0093557264585, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1275.462277739181, + 296.4112795151052, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1276.962277739181, + 293.8132033037519, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1278.462277739181, + 291.2151270923986, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1279.962277739181, + 288.61705088104526, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1281.462277739181, + 286.01897466969194, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1282.962277739181, + 283.4208984583386, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1284.462277739181, + 280.8228222469853, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1285.962277739181, + 278.224746035632, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1287.462277739181, + 275.6266698242787, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1288.962277739181, + 273.02859361292536, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1290.462277739181, + 270.43051740157205, + 3.933193232793821 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1290.462277739181, + 270.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1290.462277739181, + 267.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1290.462277739181, + 264.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1290.462277739181, + 261.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1290.462277739181, + 258.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1290.462277739181, + 255.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1290.462277739181, + 252.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1290.462277739181, + 249.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.3825042724611, + 243.1778787612915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1290.462277739181, + 246.43051740157205, + 3.933193232793821 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1290.462277739181, + 246.43051740157205, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1288.962277739181, + 243.83244119021873, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1287.462277739181, + 241.23436497886541, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1285.962277739181, + 238.6362887675121, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1284.462277739181, + 236.03821255615878, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1282.962277739181, + 233.44013634480547, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1281.462277739181, + 230.84206013345215, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1279.962277739181, + 228.24398392209883, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1278.462277739181, + 225.64590771074552, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1276.962277739181, + 223.0478314993922, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1275.462277739181, + 220.4497552880389, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1273.962277739181, + 217.85167907668557, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1272.462277739181, + 215.25360286533225, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1270.962277739181, + 212.65552665397894, + 3.933193232793821 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1270.962277739181, + 212.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1270.962277739181, + 209.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1270.962277739181, + 206.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1270.962277739181, + 203.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1270.962277739181, + 200.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1270.962277739181, + 197.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1270.962277739181, + 194.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1270.962277739181, + 191.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1270.962277739181, + 188.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1270.962277739181, + 185.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1270.962277739181, + 182.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1270.962277739181, + 179.65552665397894, + 3.933193232793821 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1270.962277739181, + 176.65552665397894, + 3.933193232793821 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-2-3_1448703729/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-2-3_1448703729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e48dc0fa414bfafcd736f1393817e9a1537bcbd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-2-3_1448703729/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1541.2236125781994, + -166.08418703686476, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1539.7236125781994, + -163.48611082551145, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1538.2236125781994, + -160.88803461415813, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1536.7236125781994, + -158.2899584028048, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1535.2236125781994, + -155.6918821914515, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1533.7236125781994, + -153.09380598009818, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.2236125781994, + -150.49572976874487, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1530.7236125781994, + -147.89765355739155, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1529.2236125781994, + -145.29957734603823, + 3.21572336861683 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1529.2236125781994, + -145.29957734603823, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1529.2236125781994, + -142.29957734603823, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1529.2236125781994, + -139.29957734603823, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1529.2236125781994, + -136.29957734603823, + 3.21572336861683 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1529.2236125781994, + -136.29957734603823, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1530.7236125781994, + -133.70150113468492, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1532.2236125781994, + -131.1034249233316, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1533.7236125781994, + -128.50534871197829, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1535.2236125781994, + -125.90727250062497, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1536.7236125781994, + -123.30919628927165, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1538.2236125781994, + -120.71112007791834, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1539.7236125781994, + -118.11304386656502, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1541.2236125781994, + -115.5149676552117, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1542.7236125781994, + -112.91689144385839, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1544.2236125781994, + -110.31881523250507, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1545.7236125781994, + -107.72073902115176, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1547.2236125781994, + -105.12266280979844, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1548.7236125781994, + -102.52458659844513, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1550.2236125781994, + -99.92651038709181, + 3.21572336861683 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1550.2236125781994, + -99.92651038709181, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1552.8216887895528, + -98.42651038709181, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1555.4197650009062, + -96.92651038709181, + 3.21572336861683 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1558.0178412122596, + -95.42651038709181, + 3.21572336861683 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-20-46_1455590964/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-20-46_1455590964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ca0049e84f16094dc87347e51ac91a6fad80a5a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-20-46_1455590964/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 949.4099027637619, + -191.43535912801678, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 950.9099027637619, + -194.0334353393701, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 952.4099027637619, + -196.63151155072342, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 953.9099027637619, + -199.22958776207673, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 955.4099027637619, + -201.82766397343005, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 956.9099027637619, + -204.42574018478336, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 958.4099027637619, + -207.02381639613668, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 959.9099027637619, + -209.62189260749, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 961.4099027637619, + -212.2199688188433, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 962.9099027637619, + -214.81804503019663, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 964.4099027637619, + -217.41612124154994, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 965.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 965.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 965.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 965.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 968.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 971.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 974.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 977.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 980.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 983.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 986.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 989.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 992.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 992.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 992.9099027637619, + -220.01419745290326, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 994.4099027637619, + -222.61227366425658, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 995.9099027637619, + -225.2103498756099, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 997.4099027637619, + -227.8084260869632, + 0.2909344530450042 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 997.4099027637619, + -227.8084260869632, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1000.0079789751153, + -229.3084260869632, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1002.6060551864687, + -230.8084260869632, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1005.204131397822, + -232.3084260869632, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1007.8022076091754, + -233.8084260869632, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1010.4002838205288, + -235.3084260869632, + 0.2909344530450042 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1012.9983600318822, + -236.8084260869632, + 0.2909344530450042 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-21-32_70636429/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-21-32_70636429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..105af963c064918275c55c7f2e44986113923c20 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-21-32_70636429/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -163.83501507302674, + -62.2951992564412, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196599 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -162.33501507302674, + -64.89327546779452, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196599 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -160.83501507302674, + -67.49135167914784, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.33501507302674, + -70.08942789050116, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -157.83501507302674, + -72.68750410185447, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -156.33501507302674, + -75.28558031320779, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -154.83501507302674, + -77.8836565245611, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -153.33501507302674, + -80.48173273591442, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -151.83501507302674, + -83.07980894726774, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -150.33501507302674, + -85.67788515862105, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -148.83501507302674, + -88.27596136997437, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -147.33501507302674, + -90.87403758132768, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -145.83501507302674, + -93.472113792681, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -144.33501507302674, + -96.07019000403432, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -142.83501507302674, + -98.66826621538763, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -141.33501507302674, + -101.26634242674095, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -139.83501507302674, + -103.86441863809426, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -138.33501507302674, + -106.46249484944758, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -136.83501507302674, + -109.0605710608009, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -135.33501507302674, + -111.65864727215421, + -0.30113823111727633 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.33501507302674, + -111.65864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -135.33501507302674, + -114.65864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -135.33501507302674, + -117.65864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -135.33501507302674, + -120.65864727215421, + -0.30113823111727633 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -135.33501507302674, + -120.65864727215421, + -0.30113823111727633 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -135.33501507302674, + -120.65864727215421, + -0.30113823111727633 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -135.33501507302674, + -120.65864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -137.93309128438005, + -122.15864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -140.53116749573337, + -123.65864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -143.1292437070867, + -125.15864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -145.72731991844, + -126.65864727215421, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -148.32539612979332, + -128.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -150.92347234114663, + -129.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -153.52154855249995, + -131.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -156.11962476385327, + -132.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -158.71770097520658, + -134.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -161.3157771865599, + -135.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -163.91385339791321, + -137.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -166.51192960926653, + -138.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -169.11000582061985, + -140.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -171.70808203197316, + -141.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -174.30615824332648, + -143.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -176.9042344546798, + -144.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -179.5023106660331, + -146.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -182.10038687738643, + -147.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -184.69846308873974, + -149.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -187.29653930009306, + -150.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -189.89461551144637, + -152.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -192.4926917227997, + -153.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -195.090767934153, + -155.1586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -197.68884414550632, + -156.6586472721542, + -0.30113823111727633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -200.28692035685964, + -158.1586472721542, + -0.30113823111727633 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-22-23_1472576335/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-22-23_1472576335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff64191f71cdb1727ecbd97851b13f30989547ae --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-22-23_1472576335/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 937.6592079324099, + 174.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 940.2572841437632, + 173.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 942.8553603551165, + 171.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 945.4534365664699, + 170.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 948.0515127778233, + 168.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 950.6495889891767, + 167.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 953.24766520053, + 165.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 955.8457414118834, + 164.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 958.4438176232368, + 162.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 961.0418938345902, + 161.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 963.6399700459435, + 159.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 966.2380462572969, + 158.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 968.8361224686503, + 156.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 971.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 971.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 974.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 977.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 980.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 983.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 986.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 989.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 992.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 995.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 998.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1001.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1004.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1007.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1010.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1013.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1016.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1019.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1022.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1025.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1028.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1031.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1034.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1034.4341986800036, + 155.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1037.032274891357, + 156.6038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1039.6303511027104, + 158.1038233755423, + 0.27352316987452774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1042.2284273140638, + 159.6038233755423, + 0.27352316987452774 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-22-2_136495343/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-22-2_136495343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59130fa2045e00bd3326d5e2ff6d569c7a5f407b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-22-2_136495343/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 403.73405583925415, + -190.39431962180515, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 403.73405583925415, + -193.39431962180515, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 403.73405583925415, + -196.39431962180515, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 403.73405583925415, + -199.39431962180515, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 403.73405583925415, + -202.39431962180515, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 403.73405583925415, + -205.39431962180515, + -2.237259128326194 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.73405583925415, + -205.39431962180515, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.23405583925415, + -207.99239583315847, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 406.73405583925415, + -210.59047204451178, + -2.237259128326194 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 406.73405583925415, + -210.59047204451178, + -2.237259128326194 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 406.73405583925415, + -210.59047204451178, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 405.23405583925415, + -213.1885482558651, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 403.73405583925415, + -215.78662446721842, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 402.23405583925415, + -218.38470067857173, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 400.73405583925415, + -220.98277688992505, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 399.23405583925415, + -223.58085310127836, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 397.73405583925415, + -226.17892931263168, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 396.23405583925415, + -228.777005523985, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 394.73405583925415, + -231.3750817353383, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 393.23405583925415, + -233.97315794669163, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 391.73405583925415, + -236.57123415804494, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 390.23405583925415, + -239.16931036939826, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 388.73405583925415, + -241.76738658075158, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 387.23405583925415, + -244.3654627921049, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 385.73405583925415, + -246.9635390034582, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 384.23405583925415, + -249.56161521481152, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 382.73405583925415, + -252.15969142616484, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 381.23405583925415, + -254.75776763751816, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 379.73405583925415, + -257.3558438488715, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 378.23405583925415, + -259.9539200602248, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 376.73405583925415, + -262.5519962715781, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 375.23405583925415, + -265.1500724829314, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 373.73405583925415, + -267.74814869428474, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 372.23405583925415, + -270.34622490563805, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 370.73405583925415, + -272.94430111699137, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 369.23405583925415, + -275.5423773283447, + -2.237259128326194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 367.73405583925415, + -278.140453539698, + -2.237259128326194 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-23-51_1503885238/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-23-51_1503885238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83ad9b35acfabbafa7b43acf053fe10a51834670 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-23-51_1503885238/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1219.7634351229226, + 169.53643498585603, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1221.2634351229226, + 172.13451119720935, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1222.7634351229226, + 174.73258740856267, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1224.2634351229226, + 177.33066361991598, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1225.7634351229226, + 179.9287398312693, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1227.2634351229226, + 182.5268160426226, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1228.7634351229226, + 185.12489225397593, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1230.2634351229226, + 187.72296846532925, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1231.7634351229226, + 190.32104467668256, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1233.2634351229226, + 192.91912088803588, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1234.7634351229226, + 195.5171970993892, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1236.2634351229226, + 198.1152733107425, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1237.7634351229226, + 200.71334952209583, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1239.2634351229226, + 203.31142573344914, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1240.7634351229226, + 205.90950194480246, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1242.2634351229226, + 208.50757815615577, + 4.206213769026553 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1242.2634351229226, + 208.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1242.2634351229226, + 211.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1242.2634351229226, + 214.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1242.2634351229226, + 217.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1242.2634351229226, + 220.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1242.2634351229226, + 223.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1242.2634351229226, + 226.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1242.2634351229226, + 229.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1242.2634351229226, + 232.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1242.2634351229226, + 235.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1242.2634351229226, + 238.50757815615577, + 4.206213769026553 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1242.2634351229226, + 238.50757815615577, + 4.206213769026553 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1242.2634351229226, + 238.50757815615577, + 4.206213769026553 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1242.2634351229226, + 238.50757815615577, + 4.206213769026553 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1242.2634351229226, + 238.50757815615577, + 4.206213769026553 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1242.2634351229226, + 238.50757815615577, + 4.206213769026553 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1242.2634351229226, + 238.50757815615577, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1243.7634351229226, + 235.90950194480246, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1245.2634351229226, + 233.31142573344914, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1246.7634351229226, + 230.71334952209583, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1248.2634351229226, + 228.1152733107425, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1249.7634351229226, + 225.5171970993892, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1251.2634351229226, + 222.91912088803588, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1252.7634351229226, + 220.32104467668256, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1254.2634351229226, + 217.72296846532925, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1255.7634351229226, + 215.12489225397593, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1257.2634351229226, + 212.5268160426226, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1258.7634351229226, + 209.9287398312693, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1260.2634351229226, + 207.33066361991598, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1261.7634351229226, + 204.73258740856267, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1263.2634351229226, + 202.13451119720935, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1264.7634351229226, + 199.53643498585603, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1266.2634351229226, + 196.93835877450272, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1267.7634351229226, + 194.3402825631494, + 4.206213769026553 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1267.7634351229226, + 194.3402825631494, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1267.7634351229226, + 191.3402825631494, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1267.7634351229226, + 188.3402825631494, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1267.7634351229226, + 185.3402825631494, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1267.7634351229226, + 182.3402825631494, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1267.7634351229226, + 179.3402825631494, + 4.206213769026553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1267.7634351229226, + 176.3402825631494, + 4.206213769026553 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-28-40_1957747793/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-28-40_1957747793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05f400285a595a88bd95d123d51b217b5a2c819b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-28-40_1957747793/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -18.058871778123418, + 30.783229234879343, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.058871778123418, + 30.783229234879343, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -12.058871778123418, + 30.783229234879343, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -9.058871778123418, + 30.783229234879343, + -4.685544253011058 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -9.058871778123418, + 30.783229234879343, + -4.685544253011058 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.058871778123418, + 30.783229234879343, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -7.558871778123418, + 28.185153023526027, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -6.058871778123418, + 25.58707681217271, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -4.558871778123418, + 22.989000600819395, + -4.685544253011058 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -4.558871778123418, + 22.989000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1.960795566770102, + 21.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 0.637280644583214, + 19.989000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3.23535685593653, + 18.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 5.833433067289846, + 16.989000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 8.431509278643162, + 15.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 11.029585489996478, + 13.989000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 13.627661701349794, + 12.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 16.22573791270311, + 10.989000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.823814124056426, + 9.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 21.421890335409742, + 7.989000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 24.019966546763058, + 6.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 26.618042758116374, + 4.989000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 29.21611896946969, + 3.489000600819395, + -4.685544253011058 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 29.21611896946969, + 3.489000600819395, + -4.685544253011058 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 29.21611896946969, + 3.489000600819395, + -4.685544253011058 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 29.21611896946969, + 3.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 29.21611896946969, + 0.489000600819395, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 29.21611896946969, + -2.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 29.21611896946969, + -5.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 29.21611896946969, + -8.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 29.21611896946969, + -11.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 29.21611896946969, + -14.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 29.21611896946969, + -17.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 29.21611896946969, + -20.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 29.21611896946969, + -23.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 29.21611896946969, + -26.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 29.21611896946969, + -29.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 29.21611896946969, + -32.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 29.21611896946969, + -35.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 29.21611896946969, + -38.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 29.21611896946969, + -41.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 29.21611896946969, + -44.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 29.21611896946969, + -47.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 29.21611896946969, + -50.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 29.21611896946969, + -53.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 29.21611896946969, + -56.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 29.21611896946969, + -59.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 29.21611896946969, + -62.510999399180605, + -4.685544253011058 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 29.21611896946969, + -62.510999399180605, + -4.685544253011058 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 29.21611896946969, + -62.510999399180605, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 26.618042758116374, + -64.0109993991806, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 24.019966546763058, + -65.5109993991806, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 21.421890335409742, + -67.0109993991806, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 18.823814124056426, + -68.5109993991806, + -4.685544253011058 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 16.22573791270311, + -70.0109993991806, + -4.685544253011058 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-31-27_1189641421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-31-27_1189641421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23c60518095c421b0a66cc65e7417fa96f844fbf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-31-27_1189641421/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 215.5022618641503, + 149.39477062523449, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 217.0022618641503, + 151.9928468365878, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 218.5022618641503, + 154.59092304794112, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 220.0022618641503, + 157.18899925929443, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 221.5022618641503, + 159.78707547064775, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 223.0022618641503, + 162.38515168200107, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 224.5022618641503, + 164.98322789335438, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 226.0022618641503, + 167.5813041047077, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 227.5022618641503, + 170.179380316061, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 229.0022618641503, + 172.77745652741433, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.5022618641503, + 175.37553273876765, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 232.0022618641503, + 177.97360895012096, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 233.5022618641503, + 180.57168516147428, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 235.0022618641503, + 183.1697613728276, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 236.5022618641503, + 185.7678375841809, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 238.0022618641503, + 188.36591379553423, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 239.5022618641503, + 190.96399000688754, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 241.0022618641503, + 193.56206621824086, + -1.6732312096189577 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 241.0022618641503, + 193.56206621824086, + -1.6732312096189577 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 241.0022618641503, + 193.56206621824086, + -1.6732312096189577 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 241.0022618641503, + 193.56206621824086, + -1.6732312096189577 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 241.0022618641503, + 193.56206621824086, + -1.6732312096189577 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 241.0022618641503, + 193.56206621824086, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 242.5022618641503, + 190.96399000688754, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 244.0022618641503, + 188.36591379553423, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 245.5022618641503, + 185.7678375841809, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 247.0022618641503, + 183.1697613728276, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 248.5022618641503, + 180.57168516147428, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 250.0022618641503, + 177.97360895012096, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 251.5022618641503, + 175.37553273876765, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 253.0022618641503, + 172.77745652741433, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 254.5022618641503, + 170.179380316061, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 256.00226186415034, + 167.5813041047077, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965896 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 257.50226186415034, + 164.98322789335438, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 259.00226186415034, + 162.38515168200107, + -1.6732312096189577 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 259.00226186415034, + 162.38515168200107, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 259.00226186415034, + 159.38515168200107, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 259.00226186415034, + 156.38515168200107, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 259.00226186415034, + 153.38515168200107, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 259.00226186415034, + 150.38515168200107, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 259.00226186415034, + 147.38515168200107, + -1.6732312096189577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 259.00226186415034, + 144.38515168200107, + -1.6732312096189577 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-31-50_1025202362/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-31-50_1025202362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..953038b6a33840b4b8074459aba6b3ad6582fbd5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-31-50_1025202362/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1493.75787940586, + -25.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1491.1598031945066, + -24.337602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1488.5617269831532, + -22.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1485.9636507717998, + -21.337602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1483.3655745604465, + -19.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1480.767498349093, + -18.337602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1478.1694221377397, + -16.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1475.5713459263864, + -15.337602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1472.973269715033, + -13.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1470.3751935036796, + -12.337602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1467.7771172923262, + -10.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1465.1790410809729, + -9.337602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1462.5809648696195, + -7.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1459.9828886582661, + -6.337602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1457.3848124469127, + -4.837602539402727, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1454.7867362355594, + -3.3376025394027273, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1452.188660024206, + -1.8376025394027276, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1449.5905838128526, + -0.3376025394027278, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1446.9925076014993, + 1.162397460597272, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1444.3944313901459, + 2.662397460597272, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1441.7963551787925, + 4.162397460597272, + 4.182800096623158 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1441.7963551787925, + 4.162397460597272, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1440.2963551787925, + 6.760473671950588, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1438.7963551787925, + 9.358549883303905, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1437.2963551787925, + 11.95662609465722, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1435.7963551787925, + 14.554702306010537, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1434.2963551787925, + 17.152778517363853, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1432.7963551787925, + 19.75085472871717, + 4.182800096623158 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1432.7963551787925, + 19.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1432.7963551787925, + 22.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1432.7963551787925, + 25.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1432.7963551787925, + 28.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1432.7963551787925, + 31.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1432.7963551787925, + 34.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1432.7963551787925, + 37.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1432.7963551787925, + 40.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1432.7963551787925, + 43.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1432.7963551787925, + 46.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1432.7963551787925, + 49.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1432.7963551787925, + 52.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1432.7963551787925, + 55.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1432.7963551787925, + 58.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1432.7963551787925, + 61.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1432.7963551787925, + 64.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1432.7963551787925, + 67.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1432.7963551787925, + 70.75085472871717, + 4.182800096623158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1432.7963551787925, + 73.75085472871717, + 4.182800096623158 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-33-12_783368690/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-33-12_783368690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25bf29b87c62525cb53e5f763a19c82411f5e1e5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-33-12_783368690/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 413.27677548613093, + -323.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 413.27677548613093, + -320.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 413.27677548613093, + -317.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 413.27677548613093, + -314.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 413.27677548613093, + -311.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 413.27677548613093, + -308.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.27677548613093, + -305.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 413.27677548613093, + -302.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.27677548613093, + -299.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 413.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 416.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 419.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 422.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 425.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 428.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 431.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 434.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 437.27677548613093, + -296.22613530164926, + -2.450723829169696 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-37-44_846930886/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-37-44_846930886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f2014a1c33020e75cb859d7ff13666f4392f0c3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-37-44_846930886/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 679.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 682.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 685.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 688.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 691.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 694.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 697.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 700.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 703.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 706.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 709.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 712.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 715.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 718.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 721.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 724.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 727.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 730.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 733.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 736.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 739.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 742.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 745.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 748.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 751.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 754.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 757.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 760.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 763.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 766.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 766.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 766.6033746947442, + -4.441407065514358, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 768.1033746947442, + -7.039483276867674, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 769.6033746947442, + -9.63755948822099, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 771.1033746947442, + -12.235635699574306, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 772.6033746947442, + -14.833711910927622, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 774.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 774.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 774.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 777.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 777.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 777.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 777.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948963 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 777.1033746947442, + -17.43178812228094, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 777.1033746947442, + -14.431788122280938, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 777.1033746947442, + -11.431788122280938, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 777.1033746947442, + -8.431788122280938, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 777.1033746947442, + -5.431788122280938, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 777.1033746947442, + -2.4317881222809383, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 777.1033746947442, + 0.5682118777190617, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 777.1033746947442, + 3.5682118777190617, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 777.1033746947442, + 6.568211877719062, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 777.1033746947442, + 9.568211877719062, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 777.1033746947442, + 12.568211877719062, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 777.1033746947442, + 15.568211877719062, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 777.1033746947442, + 18.56821187771906, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 777.1033746947442, + 21.56821187771906, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 777.1033746947442, + 24.56821187771906, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 777.1033746947442, + 27.56821187771906, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 777.1033746947442, + 30.56821187771906, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 777.1033746947442, + 33.568211877719065, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 777.1033746947442, + 36.568211877719065, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 777.1033746947442, + 39.568211877719065, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 777.1033746947442, + 42.568211877719065, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 777.1033746947442, + 45.568211877719065, + 3.835520110874544 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 777.1033746947442, + 45.568211877719065, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 778.6033746947442, + 48.16628808907238, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 780.1033746947442, + 50.7643643004257, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 781.6033746947442, + 53.36244051177901, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 783.1033746947442, + 55.96051672313233, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 784.6033746947442, + 58.558592934485645, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 786.1033746947442, + 61.15666914583896, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 787.6033746947442, + 63.75474535719228, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 789.1033746947442, + 66.3528215685456, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 790.6033746947442, + 68.95089777989891, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 792.1033746947442, + 71.54897399125223, + 3.835520110874544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 793.6033746947442, + 74.14705020260554, + 3.835520110874544 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-4-6_430253414/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-4-6_430253414/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5bcbbc52e64ef5029a372364dadd07ce15ff874 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-4-6_430253414/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 958.94951567642, + -327.65049058359966, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 960.44951567642, + -325.05241437224635, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 961.94951567642, + -322.45433816089303, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 963.44951567642, + -319.8562619495397, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 964.94951567642, + -317.2581857381864, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 966.44951567642, + -314.6601095268331, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 967.94951567642, + -312.06203331547977, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 969.44951567642, + -309.46395710412645, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 970.94951567642, + -306.86588089277313, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 972.44951567642, + -304.2678046814198, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 973.94951567642, + -301.6697284700665, + -0.6936740685278888 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 973.94951567642, + -301.6697284700665, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 973.94951567642, + -298.6697284700665, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 973.94951567642, + -295.6697284700665, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 973.94951567642, + -292.6697284700665, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 973.94951567642, + -289.6697284700665, + -0.6936740685278888 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 973.94951567642, + -289.6697284700665, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 975.44951567642, + -287.0716522587132, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 976.94951567642, + -284.47357604735987, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 978.44951567642, + -281.87549983600655, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 979.94951567642, + -279.27742362465324, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 981.44951567642, + -276.6793474132999, + -0.6936740685278888 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 981.44951567642, + -276.6793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 984.0475918877733, + -275.1793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 986.6456680991266, + -273.6793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 989.24374431048, + -272.1793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 991.8418205218334, + -270.6793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 994.4398967331867, + -269.1793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 997.0379729445401, + -267.6793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 999.6360491558935, + -266.1793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1002.2341253672469, + -264.6793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1004.8322015786002, + -263.1793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1007.4302777899536, + -261.6793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1010.028354001307, + -260.1793474132999, + -0.6936740685278888 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1010.028354001307, + -260.1793474132999, + -0.6936740685278888 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1011.528354001307, + -257.5812712019466, + -0.6936740685278888 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-41-26_1649760492/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-41-26_1649760492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd9ea924d60706d92fc689a192d40b199b223f65 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-41-26_1649760492/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1514.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1517.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1520.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1526.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1529.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1535.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1538.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1541.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1544.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1547.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1550.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1553.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1556.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1559.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1562.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1565.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1565.305268962563, + -80.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1567.9033451739165, + -81.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1570.5014213852699, + -83.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1573.0994975966232, + -84.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1575.6975738079766, + -86.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1578.29565001933, + -87.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1580.8937262306833, + -89.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1583.4918024420367, + -90.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1586.08987865339, + -92.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1588.6879548647435, + -93.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1591.2860310760968, + -95.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1593.8841072874502, + -96.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1596.4821834988036, + -98.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1599.080259710157, + -99.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1596.4821834988036, + -98.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1593.8841072874502, + -96.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1591.2860310760968, + -95.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1588.6879548647435, + -93.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1586.08987865339, + -92.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1583.4918024420367, + -90.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1580.8937262306833, + -89.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1578.29565001933, + -87.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1575.6975738079766, + -86.49533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1573.0994975966232, + -84.99533624656854, + 0.8005398725987671 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1573.0994975966232, + -84.99533624656854, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1571.5994975966232, + -82.39726003521523, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1570.0994975966232, + -79.79918382386191, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1568.5994975966232, + -77.2011076125086, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1567.0994975966232, + -74.60303140115528, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1565.5994975966232, + -72.00495518980196, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1564.0994975966232, + -69.40687897844865, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1562.5994975966232, + -66.80880276709533, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1561.0994975966232, + -64.21072655574201, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1559.5994975966232, + -61.6126503443887, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1558.0994975966232, + -59.01457413303538, + 0.8005398725987671 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1558.0994975966232, + -59.01457413303538, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1555.5014213852699, + -57.51457413303538, + 0.8005398725987671 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1552.9033451739165, + -56.01457413303538, + 0.8005398725987671 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-44-16_846930886/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-44-16_846930886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e1f0542ab015e308dbe8895880bc5c6f0620fa6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-44-16_846930886/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1374.8152795618985, + -133.57462265566312, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1377.8152795618985, + -133.57462265566312, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1380.8152795618985, + -133.57462265566312, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1383.8152795618985, + -133.57462265566312, + -1.9165689091701132 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1383.8152795618985, + -133.57462265566312, + -1.9165689091701132 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1383.8152795618985, + -133.57462265566312, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1385.3152795618985, + -136.17269886701644, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1386.8152795618985, + -138.77077507836975, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1388.3152795618985, + -141.36885128972307, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1389.8152795618985, + -143.96692750107638, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1391.3152795618985, + -146.5650037124297, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1392.8152795618985, + -149.16307992378302, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1394.3152795618985, + -151.76115613513633, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1395.8152795618985, + -154.35923234648965, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1397.3152795618985, + -156.95730855784296, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1398.8152795618985, + -159.55538476919628, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1400.3152795618985, + -162.1534609805496, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1401.8152795618985, + -164.7515371919029, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1403.3152795618985, + -167.34961340325623, + -1.9165689091701132 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1403.3152795618985, + -167.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1405.9133557732519, + -168.84961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1408.5114319846052, + -170.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1411.1095081959586, + -171.84961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1413.707584407312, + -173.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1416.3056606186653, + -174.84961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1418.9037368300187, + -176.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1421.501813041372, + -177.84961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1424.0998892527255, + -179.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1426.6979654640788, + -180.84961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1429.2960416754322, + -182.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1431.8941178867856, + -183.84961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1434.492194098139, + -185.34961340325623, + -1.9165689091701132 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1434.492194098139, + -185.34961340325623, + -1.9165689091701132 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1434.492194098139, + -185.34961340325623, + -1.9165689091701132 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1434.492194098139, + -185.34961340325623, + -1.9165689091701132 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1434.492194098139, + -185.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1434.492194098139, + -182.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1434.492194098139, + -179.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1434.492194098139, + -176.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1434.492194098139, + -173.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1434.492194098139, + -170.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1434.492194098139, + -167.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1434.492194098139, + -164.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1434.492194098139, + -161.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1434.492194098139, + -158.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1434.492194098139, + -155.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1434.492194098139, + -152.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1434.492194098139, + -149.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1434.492194098139, + -146.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1434.492194098139, + -143.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1434.492194098139, + -140.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1434.492194098139, + -137.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1434.492194098139, + -134.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1434.492194098139, + -131.34961340325623, + -1.9165689091701132 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1434.492194098139, + -131.34961340325623, + -1.9165689091701132 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1434.492194098139, + -131.34961340325623, + -1.9165689091701132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1431.8941178867856, + -129.84961340325623, + -1.9165689091701132 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-45-27_1714636915/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-45-27_1714636915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04fce6439cb945ae27002673c201c4d9118c0bb3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-45-27_1714636915/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 46.89057645292981, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 49.89057645292981, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 52.89057645292981, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 55.89057645292981, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 58.89057645292981, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 61.89057645292981, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 64.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 67.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 70.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 73.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 76.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 79.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 82.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 85.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 88.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 91.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 94.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 97.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 100.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 103.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 106.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 109.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 112.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 115.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 118.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 121.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 124.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 127.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 130.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 133.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 136.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 139.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 142.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 145.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 148.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 151.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 151.8905764529298, + -250.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 154.4886526642831, + -252.16530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 157.08672887563642, + -253.66530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 159.68480508698974, + -255.16530692175186, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 162.28288129834306, + -256.66530692175184, + 1.154969317061047 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 162.28288129834306, + -256.66530692175184, + 1.154969317061047 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 162.28288129834306, + -256.66530692175184, + 1.154969317061047 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 162.28288129834306, + -256.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 164.88095750969637, + -255.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 167.4790337210497, + -253.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 170.077109932403, + -252.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 172.67518614375632, + -250.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 175.27326235510964, + -249.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 177.87133856646295, + -247.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 180.46941477781627, + -246.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 183.06749098916958, + -244.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 185.6655672005229, + -243.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 188.26364341187622, + -241.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 190.86171962322953, + -240.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 193.45979583458285, + -238.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 196.05787204593616, + -237.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 198.65594825728948, + -235.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 201.2540244686428, + -234.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 203.8521006799961, + -232.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 206.45017689134943, + -231.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 209.04825310270274, + -229.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 211.64632931405606, + -228.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 214.24440552540938, + -226.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 216.8424817367627, + -225.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 219.440557948116, + -223.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 222.03863415946932, + -222.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 224.63671037082264, + -220.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 227.23478658217596, + -219.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 229.83286279352927, + -217.66530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 232.4309390048826, + -216.16530692175184, + 1.154969317061047 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 232.4309390048826, + -216.16530692175184, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 233.9309390048826, + -213.56723071039852, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 235.4309390048826, + -210.9691544990452, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 236.9309390048826, + -208.3710782876919, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 238.4309390048826, + -205.77300207633857, + 1.154969317061047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 239.9309390048826, + -203.17492586498525, + 1.154969317061047 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-46-35_424238335/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-46-35_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..449abd2a77916a2b66a3237ba994b33a842d7cf3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-46-35_424238335/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1064.8328780549089, + -304.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1062.2348018435555, + -303.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1059.6367256322021, + -301.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1057.0386494208487, + -300.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1054.4405732094954, + -298.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1051.842496998142, + -297.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1049.2444207867886, + -295.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1046.6463445754353, + -294.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1044.0482683640819, + -292.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1041.4501921527285, + -291.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1038.8521159413751, + -289.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1036.2540397300218, + -288.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1033.6559635186684, + -286.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1031.057887307315, + -285.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1028.4598110959616, + -283.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1025.8617348846083, + -282.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1023.2636586732549, + -280.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1020.6655824619015, + -279.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1018.0675062505481, + -277.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1015.4694300391948, + -276.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1012.8713538278414, + -274.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1010.273277616488, + -273.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1007.6752014051347, + -271.69097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1005.0771251937813, + -270.19097756117503, + 1.9736580311439464 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1005.0771251937813, + -270.19097756117503, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1003.5771251937813, + -267.5929013498217, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1002.0771251937813, + -264.9948251384684, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1000.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1000.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1000.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1000.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1000.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1000.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1003.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1006.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1009.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1012.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1015.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1018.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1021.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1024.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1027.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1030.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1033.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1033.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1033.5771251937813, + -262.3967489271151, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1035.0771251937813, + -259.79867271576177, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1036.5771251937813, + -257.20059650440845, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1038.0771251937813, + -254.60252029305514, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1039.5771251937813, + -252.00444408170182, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1041.0771251937813, + -249.4063678703485, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1042.5771251937813, + -246.8082916589952, + 1.9736580311439464 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1042.5771251937813, + -246.8082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1045.1752014051347, + -245.3082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1047.773277616488, + -243.8082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1050.3713538278414, + -242.3082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1052.9694300391948, + -240.8082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1055.5675062505481, + -239.3082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1058.1655824619015, + -237.8082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1060.763658673255, + -236.3082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1063.3617348846083, + -234.8082916589952, + 1.9736580311439464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1065.9598110959616, + -233.3082916589952, + 1.9736580311439464 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-47-28_1649760492/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-47-28_1649760492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11766fd26116ae72b13b604230603ee3b9abf909 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-47-28_1649760492/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 736.6961955417461, + -112.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 734.0981193303928, + -111.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 731.5000431190394, + -109.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 728.9019669076861, + -108.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 726.3038906963327, + -106.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 723.7058144849793, + -105.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 721.107738273626, + -103.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 718.5096620622726, + -102.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 715.9115858509192, + -100.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 713.3135096395658, + -99.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 710.7154334282125, + -97.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 708.1173572168591, + -96.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 705.5192810055057, + -94.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 702.9212047941523, + -93.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 700.323128582799, + -91.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 697.7250523714456, + -90.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 695.1269761600922, + -88.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 692.5288999487389, + -87.12080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 689.9308237373855, + -85.62080402622234, + -1.290760558965319 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 689.9308237373855, + -85.62080402622234, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 688.4308237373855, + -83.02272781486903, + -1.290760558965319 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 688.4308237373855, + -83.02272781486903, + -1.290760558965319 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267949063 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 688.4308237373855, + -83.02272781486903, + -1.290760558965319 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966074 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 688.4308237373855, + -83.02272781486903, + -1.290760558965319 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 688.4308237373855, + -83.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 691.0288999487389, + -81.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 693.6269761600922, + -80.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 696.2250523714456, + -78.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 698.823128582799, + -77.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 701.4212047941523, + -75.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 704.0192810055057, + -74.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 706.6173572168591, + -72.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 709.2154334282125, + -71.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 711.8135096395658, + -69.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 714.4115858509192, + -68.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 717.0096620622726, + -66.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 719.607738273626, + -65.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 722.2058144849793, + -63.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 724.8038906963327, + -62.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 727.4019669076861, + -60.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 730.0000431190394, + -59.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 732.5981193303928, + -57.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 735.1961955417462, + -56.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 737.7942717530996, + -54.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 740.3923479644529, + -53.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 742.9904241758063, + -51.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 745.5885003871597, + -50.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 748.186576598513, + -48.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 750.7846528098664, + -47.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 753.3827290212198, + -45.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 755.9808052325732, + -44.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 758.5788814439265, + -42.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 761.1769576552799, + -41.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 763.7750338666333, + -39.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 766.3731100779867, + -38.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 768.97118628934, + -36.52272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 771.5692625006934, + -35.02272781486903, + -1.290760558965319 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 771.5692625006934, + -35.02272781486903, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 773.0692625006934, + -32.42465160351571, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 774.5692625006934, + -29.826575392162397, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 776.0692625006934, + -27.22849918080908, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 777.5692625006934, + -24.630422969455765, + -1.290760558965319 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 779.0692625006934, + -22.03234675810245, + -1.290760558965319 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-48-37_1189641421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-48-37_1189641421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..582a9cb6f2dc1751961710377c88a00ab3a7e678 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-48-37_1189641421/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 367.12349495933324, + 310.46198641242097, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 368.62349495933324, + 307.86391020106765, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 370.12349495933324, + 305.26583398971434, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 371.62349495933324, + 302.667757778361, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 373.12349495933324, + 300.0696815670077, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 374.62349495933324, + 297.4716053556544, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 376.12349495933324, + 294.8735291443011, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 377.62349495933324, + 292.27545293294776, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 379.12349495933324, + 289.67737672159444, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 380.62349495933324, + 287.0793005102411, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 382.12349495933324, + 284.4812242988878, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 383.62349495933324, + 281.8831480875345, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 385.12349495933324, + 279.2850718761812, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 386.62349495933324, + 276.68699566482786, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 388.12349495933324, + 274.08891945347455, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 389.62349495933324, + 271.49084324212123, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 391.12349495933324, + 268.8927670307679, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 392.62349495933324, + 266.2946908194146, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 394.12349495933324, + 263.6966146080613, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 395.62349495933324, + 261.09853839670797, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 397.12349495933324, + 258.50046218535465, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 398.62349495933324, + 255.90238597400133, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 400.12349495933324, + 253.30430976264802, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 401.62349495933324, + 250.7062335512947, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 403.12349495933324, + 248.10815733994139, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 404.62349495933324, + 245.51008112858807, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 406.12349495933324, + 242.91200491723475, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 407.62349495933324, + 240.31392870588144, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 409.12349495933324, + 237.71585249452812, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 410.62349495933324, + 235.1177762831748, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 412.12349495933324, + 232.5197000718215, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 413.62349495933324, + 229.92162386046817, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 415.12349495933324, + 227.32354764911486, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 416.62349495933324, + 224.72547143776154, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 418.12349495933324, + 222.12739522640823, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 419.62349495933324, + 219.5293190150549, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 421.12349495933324, + 216.9312428037016, + 0.07249650110130812 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 421.12349495933324, + 216.9312428037016, + 0.07249650110130812 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 421.12349495933324, + 216.9312428037016, + 0.07249650110130812 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 421.12349495933324, + 216.9312428037016, + 0.07249650110130812 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 421.12349495933324, + 216.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 423.72157117068656, + 218.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 426.3196473820399, + 219.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 428.9177235933932, + 221.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 431.5157998047465, + 222.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 434.1138760160998, + 224.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 436.71195222745314, + 225.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 439.31002843880646, + 227.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 441.90810465015977, + 228.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 444.5061808615131, + 230.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 447.1042570728664, + 231.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 449.7023332842197, + 233.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 452.30040949557304, + 234.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 454.89848570692635, + 236.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 457.49656191827967, + 237.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 460.094638129633, + 239.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 462.6927143409863, + 240.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 465.2907905523396, + 242.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 467.88886676369293, + 243.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 470.48694297504625, + 245.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 473.08501918639956, + 246.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 475.6830953977529, + 248.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 478.2811716091062, + 249.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 480.8792478204595, + 251.4312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 483.4773240318128, + 252.9312428037016, + 0.07249650110130812 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 483.4773240318128, + 252.9312428037016, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 484.9773240318128, + 255.5293190150549, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 486.4773240318128, + 258.1273952264082, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 487.9773240318128, + 260.72547143776154, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 489.4773240318128, + 263.32354764911486, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 490.9773240318128, + 265.9216238604682, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 492.4773240318128, + 268.5197000718215, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 493.9773240318128, + 271.1177762831748, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 495.4773240318128, + 273.7158524945281, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 496.9773240318128, + 276.31392870588144, + 0.07249650110130812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 498.4773240318128, + 278.91200491723475, + 0.07249650110130812 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-5-36_932026304/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-5-36_932026304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7ba9baa9dfa665c34f78bc9a436f7069be54446 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-5-36_932026304/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1471.38729858968, + 88.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1471.38729858968, + 85.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1471.38729858968, + 82.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1471.38729858968, + 79.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1471.38729858968, + 76.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1471.38729858968, + 73.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1471.38729858968, + 70.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1471.38729858968, + 67.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1471.38729858968, + 64.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1471.38729858968, + 61.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1471.38729858968, + 58.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1471.38729858968, + 55.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1471.38729858968, + 52.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1471.38729858968, + 49.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1471.38729858968, + 46.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1471.38729858968, + 43.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1471.38729858968, + 40.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1471.38729858968, + 37.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1471.38729858968, + 34.32849326610955, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1471.38729858968, + 31.328493266109547, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1471.38729858968, + 28.328493266109547, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1471.38729858968, + 25.328493266109547, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1471.38729858968, + 22.328493266109547, + -1.3724883900782023 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1471.38729858968, + 22.328493266109547, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1472.88729858968, + 19.73041705475623, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1474.38729858968, + 17.132340843402915, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1475.88729858968, + 14.534264632049599, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1477.38729858968, + 11.936188420696283, + -1.3724883900782023 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1477.38729858968, + 11.936188420696283, + -1.3724883900782023 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1477.38729858968, + 11.936188420696283, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1479.9853748010335, + 10.436188420696283, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1482.5834510123868, + 8.936188420696283, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1485.1815272237402, + 7.436188420696283, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1487.7796034350936, + 5.936188420696283, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1490.377679646447, + 4.436188420696283, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1492.9757558578003, + 2.9361884206962827, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1495.5738320691537, + 1.436188420696283, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1498.171908280507, + -0.06381157930371684, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1500.7699844918604, + -1.5638115793037166, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1503.3680607032138, + -3.0638115793037164, + -1.3724883900782023 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1503.3680607032138, + -3.0638115793037164, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1504.8680607032138, + -5.661887790657032, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1506.3680607032138, + -8.25996400201035, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1507.8680607032138, + -10.858040213363665, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1509.3680607032138, + -13.456116424716981, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1510.8680607032138, + -16.054192636070297, + -1.3724883900782023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1512.3680607032138, + -18.652268847423613, + -1.3724883900782023 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-50-45_1102520059/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-50-45_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6de74886362b654038db7bf176faae45e318397 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-50-45_1102520059/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1356.4096908259723, + -98.85871836214505, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1359.0077670373257, + -100.35871836214505, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1361.605843248679, + -101.85871836214505, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1364.2039194600325, + -103.35871836214505, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1364.2039194600325, + -103.35871836214505, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1365.7039194600325, + -105.95679457349837, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1367.2039194600325, + -108.55487078485169, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1368.7039194600325, + -111.152946996205, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1370.2039194600325, + -113.75102320755832, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1370.2039194600325, + -113.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1370.2039194600325, + -116.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1370.2039194600325, + -119.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1370.2039194600325, + -122.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1370.2039194600325, + -125.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1370.2039194600325, + -128.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1370.2039194600325, + -131.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1370.2039194600325, + -134.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1370.2039194600325, + -137.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1370.2039194600325, + -140.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1370.2039194600325, + -143.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1370.2039194600325, + -146.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1370.2039194600325, + -149.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1370.2039194600325, + -152.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1370.2039194600325, + -155.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1370.2039194600325, + -158.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1370.2039194600325, + -161.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1370.2039194600325, + -164.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1370.2039194600325, + -167.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1370.2039194600325, + -170.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1370.2039194600325, + -173.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1370.2039194600325, + -176.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1370.2039194600325, + -179.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1370.2039194600325, + -182.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1370.2039194600325, + -185.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1370.2039194600325, + -188.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1370.2039194600325, + -191.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1370.2039194600325, + -194.75102320755832, + -3.530747251935101 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1370.2039194600325, + -194.75102320755832, + -3.530747251935101 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1370.2039194600325, + -194.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1372.8019956713858, + -196.25102320755832, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1372.8019956713858, + -196.25102320755832, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1372.8019956713858, + -196.25102320755832, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1372.8019956713858, + -196.25102320755832, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1372.8019956713858, + -196.25102320755832, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1372.8019956713858, + -196.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1370.2039194600325, + -197.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1367.605843248679, + -199.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1365.0077670373257, + -200.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1362.4096908259723, + -202.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1359.811614614619, + -203.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1357.2135384032656, + -205.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1354.6154621919122, + -206.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1352.0173859805589, + -208.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1349.4193097692055, + -209.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1346.821233557852, + -211.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1344.2231573464987, + -212.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1341.6250811351454, + -214.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1339.027004923792, + -215.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1336.4289287124386, + -217.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1333.8308525010852, + -218.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1331.2327762897319, + -220.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1328.6347000783785, + -221.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1326.0366238670251, + -223.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1323.4385476556718, + -224.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1320.8404714443184, + -226.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1318.242395232965, + -227.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1315.6443190216116, + -229.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1313.0462428102583, + -230.75102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1310.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1310.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1307.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1304.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1301.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1298.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1295.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1292.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1289.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1286.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1283.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1280.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1277.448166598905, + -232.25102320755832, + -3.530747251935101 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-52-33_1365180540/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-52-33_1365180540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e774ca2c974aabe937ea25177b831da9fe4351a6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-52-33_1365180540/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 74.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 77.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 80.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 83.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 86.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 92.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 95.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 98.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 98.34043157997417, + 43.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 100.93850779132748, + 44.82564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 103.5365840026808, + 46.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 106.13466021403411, + 47.82564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.73273642538743, + 49.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 111.33081263674075, + 50.82564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 113.92888884809406, + 52.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 116.52696505944738, + 53.82564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 119.1250412708007, + 55.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 121.72311748215401, + 56.82564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 124.32119369350733, + 58.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 126.91926990486064, + 59.82564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 129.51734611621396, + 61.32564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 132.11542232756727, + 62.82564437639028, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 134.7134985389206, + 64.32564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982968 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 137.3115747502739, + 65.82564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 139.90965096162722, + 67.32564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 142.50772717298054, + 68.82564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 145.10580338433385, + 70.32564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 147.70387959568717, + 71.82564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 150.30195580704049, + 73.32564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 152.9000320183938, + 74.82564437639027, + -4.524099372991787 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 152.9000320183938, + 74.82564437639027, + -4.524099372991787 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 152.9000320183938, + 74.82564437639027, + -4.524099372991787 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 152.9000320183938, + 74.82564437639027, + -4.524099372991787 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 152.9000320183938, + 74.82564437639027, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 151.4000320183938, + 77.42372058774359, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 149.9000320183938, + 80.0217967990969, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 148.4000320183938, + 82.61987301045022, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 146.9000320183938, + 85.21794922180354, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 145.4000320183938, + 87.81602543315685, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 143.9000320183938, + 90.41410164451017, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 142.4000320183938, + 93.01217785586348, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 140.9000320183938, + 95.6102540672168, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 139.4000320183938, + 98.20833027857012, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 137.9000320183938, + 100.80640648992343, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 136.4000320183938, + 103.40448270127675, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 134.9000320183938, + 106.00255891263006, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 133.4000320183938, + 108.60063512398338, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 131.9000320183938, + 111.1987113353367, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 130.4000320183938, + 113.79678754669001, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 128.9000320183938, + 116.39486375804333, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 127.4000320183938, + 118.99293996939664, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 125.9000320183938, + 121.59101618074996, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 124.4000320183938, + 124.18909239210328, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 122.9000320183938, + 126.78716860345659, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 121.4000320183938, + 129.3852448148099, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 119.9000320183938, + 131.98332102616322, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 118.4000320183938, + 134.58139723751654, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 116.9000320183938, + 137.17947344886986, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 115.4000320183938, + 139.77754966022317, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 113.9000320183938, + 142.3756258715765, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 112.4000320183938, + 144.9737020829298, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 110.9000320183938, + 147.57177829428312, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 109.4000320183938, + 150.16985450563644, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 107.9000320183938, + 152.76793071698975, + -4.524099372991787 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 107.9000320183938, + 152.76793071698975, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 107.9000320183938, + 155.76793071698975, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 107.9000320183938, + 158.76793071698975, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 107.9000320183938, + 161.76793071698975, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 107.9000320183938, + 164.76793071698975, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 107.9000320183938, + 167.76793071698975, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 107.9000320183938, + 170.76793071698975, + -4.524099372991787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 107.9000320183938, + 173.76793071698975, + -4.524099372991787 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-53-45_304089172/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-53-45_304089172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff27e430c67c87fb3a65c6e5ccba10a7bfe54343 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-53-45_304089172/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 793.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 796.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 799.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 802.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 805.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 808.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 811.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 814.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 817.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 817.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 817.9641431673869, + -249.41159644038896, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 819.4641431673869, + -252.00967265174228, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 820.9641431673869, + -254.6077488630956, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 822.4641431673869, + -257.2058250744489, + -0.7454617638950651 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 822.4641431673869, + -257.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 825.0622193787401, + -258.7058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 827.6602955900935, + -260.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 830.2583718014469, + -261.7058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 832.8564480128002, + -263.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 835.4545242241536, + -264.7058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 838.052600435507, + -266.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 840.6506766468603, + -267.7058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 843.2487528582137, + -269.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 845.8468290695671, + -270.7058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 848.4449052809205, + -272.2058250744489, + -0.7454617638950651 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 848.4449052809205, + -272.2058250744489, + -0.7454617638950651 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 848.4449052809205, + -272.2058250744489, + -0.7454617638950651 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 848.4449052809205, + -272.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 848.4449052809205, + -275.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 848.4449052809205, + -278.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 848.4449052809205, + -281.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 848.4449052809205, + -284.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 848.4449052809205, + -287.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 848.4449052809205, + -290.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 848.4449052809205, + -293.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 848.4449052809205, + -296.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 848.4449052809205, + -299.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 848.4449052809205, + -302.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 848.4449052809205, + -305.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 848.4449052809205, + -308.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 848.4449052809205, + -311.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 848.4449052809205, + -314.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 848.4449052809205, + -317.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 848.4449052809205, + -320.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 848.4449052809205, + -323.2058250744489, + -0.7454617638950651 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 848.4449052809205, + -323.2058250744489, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 849.9449052809205, + -325.8039012858022, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 851.4449052809205, + -328.40197749715554, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 852.9449052809205, + -331.00005370850886, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 854.4449052809205, + -333.5981299198622, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 855.9449052809205, + -336.1962061312155, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 857.4449052809205, + -338.7942823425688, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 858.9449052809205, + -341.3923585539221, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 860.4449052809205, + -343.99043476527544, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 861.9449052809205, + -346.58851097662875, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 863.4449052809205, + -349.18658718798207, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 864.9449052809205, + -351.7846633993354, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 866.4449052809205, + -354.3827396106887, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 867.9449052809205, + -356.980815822042, + -0.7454617638950651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 869.4449052809205, + -359.57889203339533, + -0.7454617638950651 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-56-44_1726956429/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-56-44_1726956429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04f27d2b1be4c61d3e4243f126bad3d6b5982638 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-56-44_1726956429/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 972.7413973604333, + -332.17173761134313, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 971.2413973604333, + -334.76981382269645, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 969.7413973604333, + -337.36789003404976, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 968.2413973604333, + -339.9659662454031, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 966.7413973604333, + -342.5640424567564, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 965.2413973604333, + -345.1621186681097, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 963.7413973604333, + -347.76019487946303, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 962.2413973604333, + -350.35827109081634, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 960.7413973604333, + -352.95634730216966, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 959.2413973604333, + -355.554423513523, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 957.7413973604333, + -358.1524997248763, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 956.2413973604333, + -360.7505759362296, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 954.7413973604333, + -363.3486521475829, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 953.2413973604333, + -365.94672835893624, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 951.7413973604333, + -368.54480457028956, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 950.2413973604333, + -371.1428807816429, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 948.7413973604333, + -373.7409569929962, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 947.2413973604333, + -376.3390332043495, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 945.7413973604333, + -378.9371094157028, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 944.2413973604333, + -381.53518562705614, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 942.7413973604333, + -384.13326183840945, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 941.2413973604333, + -386.73133804976277, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 939.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 939.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 939.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 939.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 939.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 936.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 933.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 930.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 927.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 924.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 921.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 918.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 915.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 912.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 909.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 906.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 903.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 900.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 897.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 894.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 891.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 888.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 885.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 882.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 882.7413973604333, + -389.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 880.1433211490801, + -390.8294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 877.5452449377267, + -392.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 874.9471687263733, + -393.8294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 872.34909251502, + -395.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 869.7510163036666, + -396.8294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 867.1529400923132, + -398.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 864.5548638809598, + -399.8294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 861.9567876696065, + -401.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 859.3587114582531, + -402.8294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 856.7606352468997, + -404.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 854.1625590355463, + -405.8294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 851.564482824193, + -407.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 848.9664066128396, + -408.8294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 846.3683304014862, + -410.3294142611161, + 2.082599903301218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 843.7702541901328, + -411.8294142611161, + 2.082599903301218 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-6-28_828388027/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-6-28_828388027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c0d054fd325322821bba143b3d02ba6d8644816 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-6-28_828388027/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1230.213958811037, + 183.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1230.213958811037, + 186.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1230.213958811037, + 189.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1230.213958811037, + 192.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1230.213958811037, + 195.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1230.213958811037, + 198.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1230.213958811037, + 201.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1230.213958811037, + 204.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1230.213958811037, + 207.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1230.213958811037, + 210.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1230.213958811037, + 213.12619275751925, + -3.750986486889017 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1230.213958811037, + 213.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1231.713958811037, + 215.72426896887256, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1233.213958811037, + 218.32234518022588, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1234.713958811037, + 220.9204213915792, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1236.213958811037, + 223.5184976029325, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1237.713958811037, + 226.11657381428583, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1239.213958811037, + 228.71465002563914, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1240.713958811037, + 231.31272623699246, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1242.213958811037, + 233.91080244834578, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1243.713958811037, + 236.5088786596991, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1245.213958811037, + 239.1069548710524, + -3.750986486889017 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1245.213958811037, + 239.1069548710524, + -3.750986486889017 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1245.213958811037, + 239.1069548710524, + -3.750986486889017 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1245.213958811037, + 239.1069548710524, + -3.750986486889017 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1245.213958811037, + 239.1069548710524, + -3.750986486889017 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1245.213958811037, + 239.1069548710524, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1246.713958811037, + 236.5088786596991, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1248.213958811037, + 233.91080244834578, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1249.713958811037, + 231.31272623699246, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1251.213958811037, + 228.71465002563914, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1252.713958811037, + 226.11657381428583, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1254.213958811037, + 223.5184976029325, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1255.713958811037, + 220.9204213915792, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1257.213958811037, + 218.32234518022588, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1258.713958811037, + 215.72426896887256, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1260.213958811037, + 213.12619275751925, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1261.713958811037, + 210.52811654616593, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1263.213958811037, + 207.93004033481262, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1264.713958811037, + 205.3319641234593, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1266.213958811037, + 202.73388791210598, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1267.713958811037, + 200.13581170075267, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1269.213958811037, + 197.53773548939935, + -3.750986486889017 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1269.213958811037, + 197.53773548939935, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1269.213958811037, + 194.53773548939935, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1269.213958811037, + 191.53773548939935, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1269.213958811037, + 188.53773548939935, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1269.213958811037, + 185.53773548939935, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1269.213958811037, + 182.53773548939935, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1269.213958811037, + 179.53773548939935, + -3.750986486889017 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1269.213958811037, + 176.53773548939935, + -3.750986486889017 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-6-3_496060028/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-6-3_496060028/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fe9911944a101b6b8436feadefbcf718543b1ad --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-6-3_496060028/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 955.4923738448408, + -463.2386385850664, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 953.9923738448408, + -460.64056237371307, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 952.4923738448408, + -458.04248616235975, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 950.9923738448408, + -455.44440995100643, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 949.4923738448408, + -452.8463337396531, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 947.9923738448408, + -450.2482575282998, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 946.4923738448408, + -447.6501813169465, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 944.9923738448408, + -445.05210510559317, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 943.4923738448408, + -442.45402889423985, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 941.9923738448408, + -439.85595268288654, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 940.4923738448408, + -437.2578764715332, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 938.9923738448408, + -434.6598002601799, + -4.68600302754007 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 938.9923738448408, + -434.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 938.9923738448408, + -431.6598002601799, + -4.68600302754007 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 938.9923738448408, + -431.6598002601799, + -4.68600302754007 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 938.9923738448408, + -431.6598002601799, + -4.68600302754007 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 938.9923738448408, + -431.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 936.3942976334874, + -430.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 933.7962214221341, + -428.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 931.1981452107807, + -427.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 928.6000689994273, + -425.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 926.001992788074, + -424.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 923.4039165767206, + -422.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 920.8058403653672, + -421.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 918.2077641540138, + -419.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 915.6096879426605, + -418.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 913.0116117313071, + -416.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 910.4135355199537, + -415.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 907.8154593086003, + -413.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 905.217383097247, + -412.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 902.6193068858936, + -410.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 900.0212306745402, + -409.1598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 897.4231544631868, + -407.6598002601799, + -4.68600302754007 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 897.4231544631868, + -407.6598002601799, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 895.9231544631868, + -405.0617240488266, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 894.4231544631868, + -402.4636478374733, + -4.68600302754007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 892.9231544631868, + -399.86557162611996, + -4.68600302754007 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-7-34_332266748/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-7-34_332266748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e808b5b1fb8c38ecb255709cf32e45a208b74822 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_18-7-34_332266748/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 783.6370085609708, + -526.121189765598, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 783.6370085609708, + -523.121189765598, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 783.6370085609708, + -520.121189765598, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 783.6370085609708, + -517.121189765598, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 783.6370085609708, + -514.121189765598, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 783.6370085609708, + -511.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 783.6370085609708, + -508.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 783.6370085609708, + -505.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 783.6370085609708, + -502.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 783.6370085609708, + -499.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 783.6370085609708, + -496.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 783.6370085609708, + -493.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 783.6370085609708, + -490.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 783.6370085609708, + -487.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 783.6370085609708, + -484.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 783.6370085609708, + -481.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 783.6370085609708, + -478.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 783.6370085609708, + -475.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 783.6370085609708, + -472.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 783.6370085609708, + -469.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 783.6370085609708, + -466.12118976559805, + -4.980923525004532 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 783.6370085609708, + -466.12118976559805, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 782.1370085609708, + -463.52311355424473, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 780.6370085609708, + -460.9250373428914, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 779.1370085609708, + -458.3269611315381, + -4.980923525004532 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 779.1370085609708, + -458.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 776.5389323496174, + -456.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 773.940856138264, + -455.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 771.3427799269107, + -453.8269611315381, + -4.980923525004532 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 771.3427799269107, + -453.8269611315381, + -4.980923525004532 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 771.3427799269107, + -453.8269611315381, + -4.980923525004532 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 771.3427799269107, + -453.8269611315381, + -4.980923525004532 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 771.3427799269107, + -453.8269611315381, + -4.980923525004532 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 771.3427799269107, + -453.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 773.940856138264, + -452.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 776.5389323496174, + -450.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 779.1370085609708, + -449.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 781.7350847723242, + -447.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 784.3331609836775, + -446.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 786.9312371950309, + -444.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 789.5293134063843, + -443.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 792.1273896177377, + -441.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 794.725465829091, + -440.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 797.3235420404444, + -438.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 799.9216182517978, + -437.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 802.5196944631512, + -435.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 805.1177706745045, + -434.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 807.7158468858579, + -432.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 810.3139230972113, + -431.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 812.9119993085646, + -429.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 815.510075519918, + -428.3269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 818.1081517312714, + -426.8269611315381, + -4.980923525004532 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 820.7062279426248, + -425.3269611315381, + -4.980923525004532 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-0-26_1101513929/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-0-26_1101513929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..748803213c162e6d3f2c19e50b78f0cfcac30ac0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-0-26_1101513929/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -63.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -60.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -51.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -48.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -45.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -39.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -36.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -33.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -30.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -27.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -24.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -21.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -15.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -12.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -9.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -6.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -3.284214690863436, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -0.2842146908634362, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 5.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 8.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 11.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 14.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 17.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 20.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 23.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 26.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 26.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 26.715785309136564, + 5.407941841717273, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 28.215785309136564, + 2.809865630363957, + -2.2886857754910004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 28.215785309136564, + 2.809865630363957, + -2.2886857754910004 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 28.215785309136564, + 2.809865630363957, + -2.2886857754910004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 28.215785309136564, + 2.809865630363957, + -2.2886857754910004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 28.215785309136564, + 2.809865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 30.81386152048988, + 4.309865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 33.411937731843196, + 5.809865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 36.01001394319651, + 7.309865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 38.60809015454983, + 8.809865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 41.206166365903144, + 10.309865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 43.80424257725646, + 11.809865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 46.402318788609776, + 13.309865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 49.00039499996309, + 14.809865630363957, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 51.59847121131641, + 16.309865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 54.196547422669724, + 17.809865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 56.79462363402304, + 19.309865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 59.392699845376356, + 20.809865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 61.99077605672967, + 22.309865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 64.58885226808299, + 23.809865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 67.1869284794363, + 25.309865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 69.78500469078962, + 26.809865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 72.38308090214294, + 28.309865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 74.98115711349625, + 29.809865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 77.57923332484957, + 31.309865630363955, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 80.17730953620288, + 32.80986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 82.7753857475562, + 34.30986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 85.37346195890952, + 35.80986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 87.97153817026283, + 37.30986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 90.56961438161615, + 38.80986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 93.16769059296946, + 40.30986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 95.76576680432278, + 41.80986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 98.3638430156761, + 43.30986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 100.96191922702941, + 44.80986563036395, + -2.2886857754910004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 100.96191922702941, + 44.80986563036395, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 102.46191922702941, + 47.40794184171727, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 103.96191922702941, + 50.006018053070584, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 105.46191922702941, + 52.6040942644239, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 106.96191922702941, + 55.202170475777216, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 108.46191922702941, + 57.80024668713053, + -2.2886857754910004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 109.96191922702941, + 60.39832289848385, + -2.2886857754910004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-10-56_149798315/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-10-56_149798315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f030afb7afa34e6f736fa73c9f2c537d855edc0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-10-56_149798315/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 485.98524282470595, + -393.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 485.98524282470595, + -390.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 485.98524282470595, + -387.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 485.98524282470595, + -384.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 485.98524282470595, + -381.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 485.98524282470595, + -378.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 485.98524282470595, + -375.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 485.98524282470595, + -372.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 485.98524282470595, + -369.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 485.98524282470595, + -366.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 485.98524282470595, + -363.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 485.98524282470595, + -360.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 485.98524282470595, + -357.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 485.98524282470595, + -354.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 485.98524282470595, + -351.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 485.98524282470595, + -348.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 485.98524282470595, + -345.9065010799148, + -0.5954292219438075 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 485.98524282470595, + -345.9065010799148, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 484.48524282470595, + -343.3084248685615, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 482.98524282470595, + -340.71034865720816, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 481.48524282470595, + -338.11227244585484, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 479.98524282470595, + -335.5141962345015, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 478.48524282470595, + -332.9161200231482, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 476.98524282470595, + -330.3180438117949, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 475.48524282470595, + -327.7199676004416, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 473.98524282470595, + -325.12189138908826, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 472.48524282470595, + -322.52381517773495, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 470.98524282470595, + -319.92573896638163, + -0.5954292219438075 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 470.98524282470595, + -319.92573896638163, + -0.5954292219438075 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 470.98524282470595, + -319.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 468.38716661335263, + -318.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 465.7890904019993, + -316.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 463.191014190646, + -315.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 460.5929379792927, + -313.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 457.99486176793937, + -312.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 455.39678555658605, + -310.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 452.79870934523274, + -309.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 450.2006331338794, + -307.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 447.6025569225261, + -306.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 445.0044807111728, + -304.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 442.4064044998195, + -303.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 439.80832828846616, + -301.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 437.21025207711284, + -300.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 434.6121758657595, + -298.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 432.0140996544062, + -297.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 429.4160234430529, + -295.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 426.8179472316996, + -294.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 424.21987102034626, + -292.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 421.62179480899295, + -291.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 419.02371859763963, + -289.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 416.4256423862863, + -288.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 413.827566174933, + -286.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 411.2294899635797, + -285.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 408.63141375222636, + -283.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 406.03333754087305, + -282.42573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 403.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 403.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 400.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 397.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 394.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 391.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 388.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 385.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 382.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 379.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 376.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 373.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 370.43526132951973, + -280.92573896638163, + -0.5954292219438075 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-11-30_2038664370/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-11-30_2038664370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6790e5511dab56e7a442225d6cc1bd6fe697e24 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-11-30_2038664370/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -240.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -237.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -234.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -231.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -228.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -225.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -222.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -219.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -216.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -213.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -210.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -207.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -204.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -201.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -198.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -192.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -189.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -186.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -183.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -180.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -177.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -174.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -174.9098038194726, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -172.31172760811927, + -374.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -169.71365139676595, + -375.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -167.11557518541264, + -377.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -164.51749897405932, + -378.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -161.919422762706, + -380.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -159.3213465513527, + -381.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -156.72327033999937, + -383.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -154.12519412864606, + -384.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -151.52711791729274, + -386.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -148.92904170593943, + -387.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -146.3309654945861, + -389.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -143.7328892832328, + -390.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -141.13481307187948, + -392.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -138.53673686052616, + -393.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -135.93866064917285, + -395.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -133.34058443781953, + -396.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -130.7425082264662, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -130.7425082264662, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -130.7425082264662, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -127.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -124.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -121.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -118.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -115.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -112.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -109.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -106.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -106.74250822646621, + -398.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -104.1444320151129, + -396.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -101.54635580375958, + -395.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -98.94827959240627, + -393.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -96.35020338105295, + -392.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -93.75212716969963, + -390.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -91.15405095834632, + -389.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -88.555974746993, + -387.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -85.95789853563969, + -386.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -83.35982232428637, + -384.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -80.76174611293305, + -383.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -78.16366990157974, + -381.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -75.56559369022642, + -380.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -72.9675174788731, + -378.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -70.36944126751979, + -377.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -67.77136505616647, + -375.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -65.17328884481316, + -374.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -62.57521263345984, + -372.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -59.977136422106526, + -371.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -57.37906021075321, + -369.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -54.78098399939989, + -368.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -52.18290778804658, + -366.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -49.58483157669326, + -365.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -46.986755365339945, + -363.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -44.38867915398663, + -362.34123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -41.79060294263331, + -360.84123484103395, + 3.4041753035098488 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -39.19252673128, + -359.34123484103395, + 3.4041753035098488 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-13-19_412776091/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-13-19_412776091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a544728f5a67cbb37da9c77c74b41e301c34d1fc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-13-19_412776091/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -59.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -53.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -50.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -44.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -41.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -38.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -35.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -32.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -29.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -26.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -23.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -20.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -17.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -14.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -11.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -8.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -5.107066658650226, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2.1070666586502256, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 0.8929333413497744, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.8929333413497744, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 6.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 9.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 12.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 15.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 18.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 21.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 21.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 21.892933341349774, + -580.2371519390505, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 23.392933341349774, + -582.8352281504037, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 24.892933341349774, + -585.4333043617571, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 26.392933341349774, + -588.0313805731105, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 27.892933341349774, + -590.6294567844639, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 29.392933341349774, + -593.2275329958172, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 30.892933341349774, + -595.8256092071706, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 32.392933341349774, + -598.423685418524, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 33.892933341349774, + -601.0217616298773, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 35.392933341349774, + -603.6198378412307, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 36.892933341349774, + -606.2179140525841, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 38.392933341349774, + -608.8159902639375, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 39.892933341349774, + -611.4140664752908, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 41.392933341349774, + -614.0121426866442, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 42.892933341349774, + -616.6102188979976, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 44.392933341349774, + -619.208295109351, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 45.892933341349774, + -621.8063713207043, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 47.392933341349774, + -624.4044475320577, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 48.892933341349774, + -627.0025237434111, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 50.392933341349774, + -629.6005999547644, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 51.892933341349774, + -632.1986761661178, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 53.392933341349774, + -634.7967523774712, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 54.892933341349774, + -637.3948285888246, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 56.392933341349774, + -639.9929048001779, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 57.892933341349774, + -642.5909810115313, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 59.392933341349774, + -645.1890572228847, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 60.892933341349774, + -647.7871334342381, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 62.392933341349774, + -650.3852096455914, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 63.892933341349774, + -652.9832858569448, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 65.39293334134977, + -655.5813620682982, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 66.89293334134977, + -658.1794382796515, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 68.39293334134977, + -660.7775144910049, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 69.89293334134977, + -663.3755907023583, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 71.39293334134977, + -665.9736669137117, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 72.89293334134977, + -668.571743125065, + -4.0220598103204495 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 72.89293334134977, + -668.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 72.89293334134977, + -671.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 72.89293334134977, + -674.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 72.89293334134977, + -677.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 72.89293334134977, + -680.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 72.89293334134977, + -683.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 72.89293334134977, + -686.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 72.89293334134977, + -689.571743125065, + -4.0220598103204495 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 72.89293334134977, + -692.571743125065, + -4.0220598103204495 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-13-59_1424268980/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-13-59_1424268980/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6aafba1d8605fd6a7098a198d934b20490c913c2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-13-59_1424268980/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1460.4959759722174, + -88.91242742660674, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1461.9959759722174, + -86.31435121525342, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1463.4959759722174, + -83.71627500390011, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1464.9959759722174, + -81.11819879254679, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1466.4959759722174, + -78.52012258119348, + 0.9353087252702501 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1466.4959759722174, + -78.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1469.0940521835707, + -77.02012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1471.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1471.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1474.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1477.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1480.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1483.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1486.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1489.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1492.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1495.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1498.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1501.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1504.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1507.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1510.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1513.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1516.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1519.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1522.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1525.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1528.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1531.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1534.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1537.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1540.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1543.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1546.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1546.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1546.692128394924, + -75.52012258119348, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1548.192128394924, + -78.11819879254679, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1549.692128394924, + -80.71627500390011, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1551.192128394924, + -83.31435121525342, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1552.692128394924, + -85.91242742660674, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1554.192128394924, + -88.51050363796006, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1555.692128394924, + -91.10857984931337, + 0.9353087252702501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1557.192128394924, + -93.70665606066669, + 0.9353087252702501 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-14-22_1911759956/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-14-22_1911759956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..026b06a820ef9caaa4dfd015957ed56b98b990b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-14-22_1911759956/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -191.22406681649568, + 127.299619535394, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -192.72406681649568, + 124.70154332404068, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -194.22406681649568, + 122.10346711268737, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -195.72406681649568, + 119.50539090133405, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -197.22406681649568, + 116.90731468998074, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.72406681649568, + 114.30923847862742, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -200.22406681649568, + 111.7111622672741, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -201.72406681649568, + 109.11308605592079, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -203.22406681649568, + 106.51500984456747, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -204.72406681649568, + 103.91693363321416, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -206.22406681649568, + 101.31885742186084, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -207.72406681649568, + 98.72078121050752, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -209.22406681649568, + 96.12270499915421, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -210.72406681649568, + 93.52462878780089, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -212.22406681649568, + 90.92655257644758, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -213.72406681649568, + 88.32847636509426, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -215.22406681649568, + 85.73040015374094, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -216.72406681649568, + 83.13232394238763, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -218.22406681649568, + 80.53424773103431, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -219.72406681649568, + 77.936171519681, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -221.22406681649568, + 75.33809530832768, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -222.72406681649568, + 72.74001909697436, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -224.22406681649568, + 70.14194288562105, + -2.986825935628768 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -224.22406681649568, + 70.14194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -226.822143027849, + 68.64194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -229.4202192392023, + 67.14194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -232.01829545055563, + 65.64194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -234.61637166190894, + 64.14194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -237.21444787326226, + 62.64194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -239.81252408461557, + 61.14194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -242.4106002959689, + 59.64194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -245.0086765073222, + 58.14194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -247.60675271867552, + 56.64194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -250.20482893002884, + 55.14194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -252.80290514138215, + 53.64194288562105, + -2.986825935628768 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -252.80290514138215, + 53.64194288562105, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -254.30290514138215, + 51.04386667426773, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -255.80290514138215, + 48.44579046291442, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -257.30290514138215, + 45.8477142515611, + -2.986825935628768 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -257.30290514138215, + 45.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -257.30290514138215, + 42.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -257.30290514138215, + 39.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -257.30290514138215, + 36.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -257.30290514138215, + 33.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -257.30290514138215, + 30.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -257.30290514138215, + 27.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -257.30290514138215, + 24.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -257.30290514138215, + 21.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -257.30290514138215, + 18.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -257.30290514138215, + 15.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -257.30290514138215, + 12.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -257.30290514138215, + 9.8477142515611, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -257.30290514138215, + 6.847714251561101, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -257.30290514138215, + 3.8477142515611007, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -257.30290514138215, + 0.8477142515611007, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -257.30290514138215, + -2.1522857484388993, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -257.30290514138215, + -5.152285748438899, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -257.30290514138215, + -8.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -257.30290514138215, + -11.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -257.30290514138215, + -14.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -257.30290514138215, + -17.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -257.30290514138215, + -20.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -257.30290514138215, + -23.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -257.30290514138215, + -26.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -257.30290514138215, + -29.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -257.30290514138215, + -32.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -257.30290514138215, + -35.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -257.30290514138215, + -38.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -257.30290514138215, + -41.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -257.30290514138215, + -44.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -257.30290514138215, + -47.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -257.30290514138215, + -50.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -257.30290514138215, + -53.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -257.30290514138215, + -56.1522857484389, + -2.986825935628768 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -257.30290514138215, + -56.1522857484389, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -255.80290514138215, + -58.750361959792215, + -2.986825935628768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -254.30290514138215, + -61.34843817114553, + -2.986825935628768 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-15-22_137806862/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-15-22_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ab3e23a9e83a2bb96198f544082b9f0e48e1592 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-15-22_137806862/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1347.1550338327902, + -285.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1344.5569576214368, + -283.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1341.9588814100834, + -282.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1339.36080519873, + -280.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1336.7627289873767, + -279.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1334.1646527760233, + -277.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1331.56657656467, + -276.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1328.9685003533166, + -274.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1326.3704241419632, + -273.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1323.7723479306098, + -271.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1321.1742717192565, + -270.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1318.576195507903, + -268.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1315.9781192965497, + -267.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1313.3800430851963, + -265.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1310.781966873843, + -264.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1308.1838906624896, + -262.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1305.5858144511362, + -261.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1302.9877382397829, + -259.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1300.3896620284295, + -258.3938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1297.791585817076, + -256.8938968298198, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1295.1935096057227, + -255.39389682981982, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1292.5954333943694, + -253.89389682981982, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1289.997357183016, + -252.39389682981982, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1287.3992809716626, + -250.89389682981982, + 3.2239327911594025 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1287.3992809716626, + -250.89389682981982, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1285.8992809716626, + -248.2958206184665, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1284.3992809716626, + -245.6977444071132, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1282.8992809716626, + -243.09966819575988, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1281.3992809716626, + -240.50159198440656, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1279.8992809716626, + -237.90351577305324, + 3.2239327911594025 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1279.8992809716626, + -237.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1277.3012047603092, + -236.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1274.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1274.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1274.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1274.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1274.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1274.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1274.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1277.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1280.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1283.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1286.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1289.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1292.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1295.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1298.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1301.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1304.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1307.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1310.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1310.7031285489559, + -234.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1313.3012047603092, + -233.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1315.8992809716626, + -231.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1318.497357183016, + -230.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1321.0954333943694, + -228.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1323.6935096057227, + -227.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1326.291585817076, + -225.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1328.8896620284295, + -224.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1331.4877382397829, + -222.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1334.0858144511362, + -221.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1336.6838906624896, + -219.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1339.281966873843, + -218.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1341.8800430851963, + -216.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1344.4781192965497, + -215.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1347.076195507903, + -213.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1349.6742717192565, + -212.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1352.2723479306098, + -210.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1354.8704241419632, + -209.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1357.4685003533166, + -207.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1360.06657656467, + -206.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1362.6646527760233, + -204.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1365.2627289873767, + -203.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1367.86080519873, + -201.90351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1370.4588814100834, + -200.40351577305324, + 3.2239327911594025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1373.0569576214368, + -198.90351577305324, + 3.2239327911594025 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-17-33_511702305/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-17-33_511702305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a97a83a17ac2874fb83422d46bc3dc32d9a4f025 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-17-33_511702305/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 117.17798959626738, + -523.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 114.57991338491406, + -525.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.98183717356075, + -526.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 109.38376096220743, + -528.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 106.78568475085412, + -529.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 104.1876085395008, + -531.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 101.58953232814748, + -532.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 98.99145611679417, + -534.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 96.39337990544085, + -535.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 93.79530369408754, + -537.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 91.19722748273422, + -538.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 88.5991512713809, + -540.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.00107506002759, + -541.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.40299884867427, + -543.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 80.80492263732096, + -544.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 78.20684642596764, + -546.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 75.60877021461432, + -547.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.01069400326101, + -549.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 70.41261779190769, + -550.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 67.81454158055438, + -552.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 65.21646536920106, + -553.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 62.618389157847744, + -555.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 60.02031294649443, + -556.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 57.42223673514111, + -558.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 54.824160523787796, + -559.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 52.22608431243448, + -561.2224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 49.628008101081164, + -562.7224379423275, + 3.160349908911588 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 49.628008101081164, + -562.7224379423275, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 48.128008101081164, + -565.3205141536807, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 46.628008101081164, + -567.9185903650341, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 45.128008101081164, + -570.5166665763875, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 43.628008101081164, + -573.1147427877409, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 42.128008101081164, + -575.7128189990942, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 40.628008101081164, + -578.3108952104476, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 39.128008101081164, + -580.908971421801, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 37.628008101081164, + -583.5070476331543, + 3.160349908911588 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 37.628008101081164, + -583.5070476331543, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 35.02993188972785, + -585.0070476331543, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 32.43185567837453, + -586.5070476331543, + 3.160349908911588 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 32.43185567837453, + -586.5070476331543, + 3.160349908911588 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 32.43185567837453, + -586.5070476331543, + 3.160349908911588 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 32.43185567837453, + -586.5070476331543, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 33.93185567837453, + -589.1051238445077, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 35.43185567837453, + -591.7032000558611, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 36.93185567837453, + -594.3012762672145, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 38.43185567837453, + -596.8993524785678, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 39.93185567837453, + -599.4974286899212, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 41.43185567837453, + -602.0955049012746, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 42.93185567837453, + -604.693581112628, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 44.43185567837453, + -607.2916573239813, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 45.93185567837453, + -609.8897335353347, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 47.43185567837453, + -612.4878097466881, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 48.93185567837453, + -615.0858859580414, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 50.43185567837453, + -617.6839621693948, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 51.93185567837453, + -620.2820383807482, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 53.43185567837453, + -622.8801145921016, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 54.93185567837453, + -625.4781908034549, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 56.43185567837453, + -628.0762670148083, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 57.93185567837453, + -630.6743432261617, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 59.43185567837453, + -633.272419437515, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 60.93185567837453, + -635.8704956488684, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 62.43185567837453, + -638.4685718602218, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 63.93185567837453, + -641.0666480715752, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 65.43185567837453, + -643.6647242829285, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 66.93185567837453, + -646.2628004942819, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 68.43185567837453, + -648.8608767056353, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 69.93185567837453, + -651.4589529169887, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 71.43185567837453, + -654.057029128342, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 72.93185567837453, + -656.6551053396954, + 3.160349908911588 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 72.93185567837453, + -656.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 72.93185567837453, + -659.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 72.93185567837453, + -662.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 72.93185567837453, + -665.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 72.93185567837453, + -668.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 72.93185567837453, + -671.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 72.93185567837453, + -674.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 72.93185567837453, + -677.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 72.93185567837453, + -680.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 72.93185567837453, + -683.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 72.93185567837453, + -686.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 72.93185567837453, + -689.6551053396954, + 3.160349908911588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 72.93185567837453, + -692.6551053396954, + 3.160349908911588 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-18-10_2084420925/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-18-10_2084420925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a358e16461600ef4479d17d7c42cb6f5fedf503 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-18-10_2084420925/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1131.5551099548204, + -306.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1128.957033743467, + -305.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1126.3589575321137, + -303.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1123.7608813207603, + -302.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1121.162805109407, + -300.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1118.5647288980535, + -299.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1115.9666526867002, + -297.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1113.3685764753468, + -296.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1110.7705002639934, + -294.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1108.17242405264, + -293.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1105.5743478412867, + -291.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1102.9762716299333, + -290.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1100.37819541858, + -288.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1097.7801192072266, + -287.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1095.1820429958732, + -285.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1092.5839667845198, + -284.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1089.9858905731664, + -282.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1087.387814361813, + -281.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1084.7897381504597, + -279.74732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1082.1916619391063, + -278.24732229665983, + -3.0655281393711666 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1082.1916619391063, + -278.24732229665983, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1080.6916619391063, + -275.6492460853065, + -3.0655281393711666 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1080.6916619391063, + -275.6492460853065, + -3.0655281393711666 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267949063 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1080.6916619391063, + -275.6492460853065, + -3.0655281393711666 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966074 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1080.6916619391063, + -275.6492460853065, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1082.1916619391063, + -273.0511698739532, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1083.6916619391063, + -270.4530936625999, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1085.1916619391063, + -267.85501745124657, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1086.6916619391063, + -265.25694123989325, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1088.1916619391063, + -262.65886502853994, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1089.6916619391063, + -260.0607888171866, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1091.1916619391063, + -257.4627126058333, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1092.6916619391063, + -254.86463639448, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1094.1916619391063, + -252.26656018312667, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1095.6916619391063, + -249.66848397177336, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1097.1916619391063, + -247.07040776042004, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1098.6916619391063, + -244.47233154906672, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1100.1916619391063, + -241.8742553377134, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1101.6916619391063, + -239.2761791263601, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1103.1916619391063, + -236.67810291500678, + -3.0655281393711666 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1103.1916619391063, + -236.67810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1105.7897381504597, + -235.17810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1108.387814361813, + -233.67810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1110.9858905731664, + -232.17810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1113.5839667845198, + -230.67810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1116.1820429958732, + -229.17810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1118.7801192072266, + -227.67810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1121.37819541858, + -226.17810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1123.9762716299333, + -224.67810291500678, + -3.0655281393711666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1126.5743478412867, + -223.17810291500678, + -3.0655281393711666 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-18-35_1937477084/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-18-35_1937477084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ac83123940971cbeac3da6362348f31ef1dee7e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-18-35_1937477084/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -75.93535850722296, + -803.1396571951046, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -77.43535850722296, + -800.5415809837514, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -78.93535850722296, + -797.943504772398, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -80.43535850722296, + -795.3454285610446, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.93535850722296, + -792.7473523496913, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -83.43535850722296, + -790.1492761383379, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -84.93535850722296, + -787.5511999269845, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -86.43535850722296, + -784.9531237156311, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -87.93535850722296, + -782.3550475042778, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -89.43535850722296, + -779.7569712929244, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -90.93535850722296, + -777.158895081571, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -92.43535850722296, + -774.5608188702176, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -93.93535850722296, + -771.9627426588643, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -95.43535850722296, + -769.3646664475109, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -96.93535850722296, + -766.7665902361575, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -98.43535850722296, + -764.1685140248042, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -99.93535850722296, + -761.5704378134508, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -101.43535850722296, + -758.9723616020974, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -102.93535850722296, + -756.374285390744, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -104.43535850722296, + -753.7762091793907, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -105.93535850722296, + -751.1781329680373, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -107.43535850722296, + -748.5800567566839, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -108.93535850722296, + -745.9819805453305, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -110.43535850722296, + -743.3839043339772, + -4.275633984803163 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -110.43535850722296, + -743.3839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -113.03343471857627, + -741.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -115.63151092992959, + -740.3839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -118.2295871412829, + -738.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -120.82766335263622, + -737.3839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -123.42573956398954, + -735.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -126.02381577534285, + -734.3839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -128.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -128.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -128.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -128.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -128.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -128.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -125.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -122.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -119.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -116.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -113.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -110.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -107.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -104.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -101.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -98.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -95.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -92.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -89.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -86.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -83.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -80.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -77.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -74.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -71.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -68.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -65.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -62.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -59.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -56.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -53.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -50.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -47.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -47.62189198669617, + -732.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -45.023815775342854, + -731.3839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -42.42573956398954, + -729.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -39.82766335263622, + -728.3839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -37.229587141282906, + -726.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -34.63151092992959, + -725.3839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -32.033434718576274, + -723.8839043339772, + -4.275633984803163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -29.435358507222958, + -722.3839043339772, + -4.275633984803163 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-19-51_572660336/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-19-51_572660336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4745b5ed2be4a9ba56fe76446b2b80dd2f2a763c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-19-51_572660336/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 8.138897943642927, + -389.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 8.138897943642927, + -392.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 8.138897943642927, + -395.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 8.138897943642927, + -398.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 8.138897943642927, + -401.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 8.138897943642927, + -404.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 8.138897943642927, + -407.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 8.138897943642927, + -410.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 8.138897943642927, + -413.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 8.138897943642927, + -416.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 8.138897943642927, + -419.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.138897943642927, + -422.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.138897943642927, + -425.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 8.138897943642927, + -428.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 8.138897943642927, + -431.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 8.138897943642927, + -434.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 8.138897943642927, + -437.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 8.138897943642927, + -440.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.138897943642927, + -443.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 8.138897943642927, + -446.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 8.138897943642927, + -449.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 8.138897943642927, + -452.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 8.138897943642927, + -455.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 8.138897943642927, + -458.568467505195, + 0.06696085876559721 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 8.138897943642927, + -458.568467505195, + 0.06696085876559721 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 8.138897943642927, + -458.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 5.540821732289611, + -460.068467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2.9427455209362954, + -461.568467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 0.34466930958297937, + -463.068467505195, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 0.34466930958297937, + -463.068467505195, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1.15533069041702, + -465.6665437165483, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2.6553306904170193, + -468.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2.6553306904170193, + -468.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2.6553306904170193, + -468.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2.6553306904170193, + -468.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2.6553306904170193, + -468.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2.6553306904170193, + -468.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2.6553306904170193, + -468.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -0.05725447906370329, + -466.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2.5408217322896127, + -465.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 5.138897943642929, + -463.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 7.736974154996245, + -462.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 10.335050366349561, + -460.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 12.933126577702877, + -459.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 15.531202789056193, + -457.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 18.12927900040951, + -456.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 20.727355211762827, + -454.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 23.325431423116143, + -453.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 25.92350763446946, + -451.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 28.521583845822775, + -450.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 31.11966005717609, + -448.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 33.71773626852941, + -447.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 36.31581247988272, + -445.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 38.91388869123604, + -444.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 41.511964902589355, + -442.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 44.11004111394267, + -441.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 46.70811732529599, + -439.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 49.3061935366493, + -438.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 51.90426974800262, + -436.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 54.502345959355935, + -435.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 57.10042217070925, + -433.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 59.69849838206257, + -432.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 62.29657459341588, + -430.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 64.8946508047692, + -429.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 67.49272701612252, + -427.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 70.09080322747583, + -426.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 72.68887943882915, + -424.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 75.28695565018246, + -423.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 77.88503186153578, + -421.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 80.4831080728891, + -420.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 83.08118428424241, + -418.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 85.67926049559573, + -417.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 88.27733670694904, + -415.7646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 90.87541291830236, + -414.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 90.87541291830236, + -414.2646199279016, + 0.06696085876559721 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 90.87541291830236, + -414.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 90.87541291830236, + -411.2646199279016, + 0.06696085876559721 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 90.87541291830236, + -408.2646199279016, + 0.06696085876559721 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-22-9_1100661313/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-22-9_1100661313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecd16a15658ff9d9063fd7865ddaa63615ba9c4a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-22-9_1100661313/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -190.9507748029413, + -336.6950997011743, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.4507748029413, + -334.09702348982097, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -187.9507748029413, + -331.49894727846765, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -186.4507748029413, + -328.90087106711434, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -184.9507748029413, + -326.302794855761, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -183.4507748029413, + -323.7047186444077, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -181.9507748029413, + -321.1066424330544, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -180.4507748029413, + -318.5085662217011, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -178.9507748029413, + -315.91049001034776, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -177.4507748029413, + -313.31241379899444, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -175.9507748029413, + -310.7143375876411, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -174.4507748029413, + -308.1162613762878, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -172.9507748029413, + -305.5181851649345, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -171.4507748029413, + -302.9201089535812, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -169.9507748029413, + -300.32203274222786, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -168.4507748029413, + -297.72395653087455, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -166.9507748029413, + -295.12588031952123, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -165.4507748029413, + -292.5278041081679, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -163.9507748029413, + -289.9297278968146, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -162.4507748029413, + -287.3316516854613, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -160.9507748029413, + -284.73357547410797, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -159.4507748029413, + -282.13549926275465, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -157.9507748029413, + -279.53742305140133, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -156.4507748029413, + -276.939346840048, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -154.9507748029413, + -274.3412706286947, + -3.8305392379515633 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -154.9507748029413, + -274.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -154.9507748029413, + -271.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -154.9507748029413, + -268.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -154.9507748029413, + -265.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -154.9507748029413, + -262.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -154.9507748029413, + -259.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -154.9507748029413, + -256.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -154.9507748029413, + -253.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -154.9507748029413, + -250.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -154.9507748029413, + -247.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -154.9507748029413, + -244.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -154.9507748029413, + -241.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -154.9507748029413, + -238.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -154.9507748029413, + -235.3412706286947, + -3.8305392379515633 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -154.9507748029413, + -235.3412706286947, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -156.4507748029413, + -232.74319441734139, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -157.9507748029413, + -230.14511820598807, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -159.4507748029413, + -227.54704199463475, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -160.9507748029413, + -224.94896578328144, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.4507748029413, + -222.35088957192812, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -163.9507748029413, + -219.7528133605748, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -165.4507748029413, + -217.1547371492215, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -166.9507748029413, + -214.55666093786817, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -168.4507748029413, + -211.95858472651486, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -169.9507748029413, + -209.36050851516154, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -171.4507748029413, + -206.76243230380823, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -172.9507748029413, + -204.1643560924549, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -174.4507748029413, + -201.5662798811016, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -175.9507748029413, + -198.96820366974828, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -177.4507748029413, + -196.37012745839496, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -178.9507748029413, + -193.77205124704165, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -180.4507748029413, + -191.17397503568833, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -181.9507748029413, + -188.575898824335, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -183.4507748029413, + -185.9778226129817, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -184.9507748029413, + -183.37974640162838, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -186.4507748029413, + -180.78167019027507, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -187.9507748029413, + -178.18359397892175, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -189.4507748029413, + -175.58551776756843, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -190.9507748029413, + -172.98744155621512, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -192.4507748029413, + -170.3893653448618, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -193.9507748029413, + -167.79128913350849, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -195.4507748029413, + -165.19321292215517, + -3.8305392379515633 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -195.4507748029413, + -165.19321292215517, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -198.04885101429463, + -163.69321292215517, + -3.8305392379515633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -200.64692722564794, + -162.19321292215517, + -3.8305392379515633 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-24-52_2001100545/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-24-52_2001100545/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95d3c8b124f58e26681688a7b1875e640b1fdefb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-24-52_2001100545/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1334.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1337.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1340.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1343.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1346.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1349.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1352.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1355.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1358.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1358.5579403757051, + -138.52136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1361.1560165870585, + -140.02136618973884, + -2.193097515881279 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1361.1560165870585, + -140.02136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1362.6560165870585, + -142.61944240109216, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1364.1560165870585, + -145.21751861244547, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1365.6560165870585, + -147.8155948237988, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1367.1560165870585, + -150.4136710351521, + -2.193097515881279 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1367.1560165870585, + -150.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1369.7540927984119, + -151.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1372.3521690097652, + -153.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1374.9502452211186, + -154.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1377.548321432472, + -156.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1380.1463976438254, + -157.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1382.7444738551787, + -159.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1385.342550066532, + -160.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1387.9406262778855, + -162.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1390.5387024892389, + -163.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1393.1367787005922, + -165.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1395.7348549119456, + -166.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1398.332931123299, + -168.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1400.9310073346523, + -169.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1403.5290835460057, + -171.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1406.127159757359, + -172.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1408.7252359687125, + -174.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1411.3233121800658, + -175.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1413.9213883914192, + -177.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1416.5194646027726, + -178.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1419.117540814126, + -180.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1421.7156170254793, + -181.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1424.3136932368327, + -183.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1426.911769448186, + -184.9136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1429.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1429.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1432.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1435.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1438.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1441.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1441.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1441.5098456595395, + -186.4136710351521, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1443.0098456595395, + -183.8155948237988, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1444.5098456595395, + -181.21751861244547, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1446.0098456595395, + -178.61944240109216, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1447.5098456595395, + -176.02136618973884, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1449.0098456595395, + -173.42328997838553, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1450.5098456595395, + -170.8252137670322, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1452.0098456595395, + -168.2271375556789, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1453.5098456595395, + -165.62906134432558, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1455.0098456595395, + -163.03098513297226, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1456.5098456595395, + -160.43290892161895, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1458.0098456595395, + -157.83483271026563, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1459.5098456595395, + -155.2367564989123, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1461.0098456595395, + -152.638680287559, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1462.5098456595395, + -150.04060407620568, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1464.0098456595395, + -147.44252786485237, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1465.5098456595395, + -144.84445165349905, + -2.193097515881279 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1465.5098456595395, + -144.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1468.1079218708928, + -143.34445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1470.7059980822462, + -141.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1473.3040742935996, + -140.34445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1475.902150504953, + -138.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1478.5002267163063, + -137.34445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1481.0983029276597, + -135.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1483.696379139013, + -134.34445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1486.2944553503664, + -132.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1488.8925315617198, + -131.34445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1491.4906077730732, + -129.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1494.0886839844266, + -128.34445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1496.68676019578, + -126.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1499.2848364071333, + -125.34445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1501.8829126184867, + -123.84445165349905, + -2.193097515881279 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1504.48098882984, + -122.34445165349905, + -2.193097515881279 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-25-56_1548233367/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-25-56_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f600943684629ab9e949fe88695413c912b7cb88 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-25-56_1548233367/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -89.36653401960669, + -664.6792799835954, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -86.36653401960669, + -664.6792799835954, + -1.4444272000105212 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -86.36653401960669, + -664.6792799835954, + -1.4444272000105212 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -86.36653401960669, + -664.6792799835954, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -84.86653401960669, + -667.2773561949487, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -83.36653401960669, + -669.875432406302, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.86653401960669, + -672.4735086176554, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -80.36653401960669, + -675.0715848290088, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -78.86653401960669, + -677.6696610403621, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -77.36653401960669, + -680.2677372517155, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -75.86653401960669, + -682.8658134630689, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -74.36653401960669, + -685.4638896744223, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -72.86653401960669, + -688.0619658857756, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -71.36653401960669, + -690.660042097129, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -69.86653401960669, + -693.2581183084824, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -68.36653401960669, + -695.8561945198358, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -66.86653401960669, + -698.4542707311891, + -1.4444272000105212 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -66.86653401960669, + -698.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -64.26845780825337, + -699.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -61.67038159690006, + -701.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -59.07230538554674, + -702.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -56.474229174193425, + -704.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -53.87615296284011, + -705.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -51.27807675148679, + -707.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -48.68000054013348, + -708.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -46.08192432878016, + -710.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -43.483848117426845, + -711.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -40.88577190607353, + -713.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -38.28769569472021, + -714.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -35.6896194833669, + -716.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -33.09154327201358, + -717.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -30.493467060660265, + -719.4542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -27.89539084930695, + -720.9542707311891, + -1.4444272000105212 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -27.89539084930695, + -720.9542707311891, + -1.4444272000105212 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -27.89539084930695, + -720.9542707311891, + -1.4444272000105212 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -27.89539084930695, + -720.9542707311891, + -1.4444272000105212 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -27.89539084930695, + -720.9542707311891, + -1.4444272000105212 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -27.89539084930695, + -720.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -27.89539084930695, + -717.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -27.89539084930695, + -714.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -27.89539084930695, + -711.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -27.89539084930695, + -708.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -27.89539084930695, + -705.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -27.89539084930695, + -702.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -27.89539084930695, + -699.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -27.89539084930695, + -696.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -27.89539084930695, + -693.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -27.89539084930695, + -690.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -27.89539084930695, + -687.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -27.89539084930695, + -684.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -27.89539084930695, + -681.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -27.89539084930695, + -678.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -27.89539084930695, + -675.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -27.89539084930695, + -672.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -27.89539084930695, + -669.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -27.89539084930695, + -666.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -27.89539084930695, + -663.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -27.89539084930695, + -660.9542707311891, + -1.4444272000105212 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -27.89539084930695, + -660.9542707311891, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -29.39539084930695, + -658.3561945198358, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -30.89539084930695, + -655.7581183084824, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -32.39539084930695, + -653.160042097129, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -33.89539084930695, + -650.5619658857756, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -35.39539084930695, + -647.9638896744223, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -36.89539084930695, + -645.3658134630689, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -38.39539084930695, + -642.7677372517155, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -39.89539084930695, + -640.1696610403621, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -41.39539084930695, + -637.5715848290088, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -42.89539084930695, + -634.9735086176554, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -44.39539084930695, + -632.375432406302, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -45.89539084930695, + -629.7773561949487, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -47.39539084930695, + -627.1792799835953, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -48.89539084930695, + -624.5812037722419, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -50.39539084930695, + -621.9831275608885, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -51.89539084930695, + -619.3850513495352, + -1.4444272000105212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -53.39539084930695, + -616.7869751381818, + -1.4444272000105212 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-27-2_1585990364/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-27-2_1585990364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..681ab272166107c4064c1e49637bf62edb8149eb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-27-2_1585990364/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 58.955102506457564, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.955102506457564, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 64.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 67.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 70.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 73.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 76.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 79.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 82.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 85.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 88.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 94.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 97.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 100.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 103.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 106.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 109.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 112.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 115.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 118.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 121.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 124.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 127.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 130.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 133.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 136.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 139.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 142.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 145.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 148.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 151.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 154.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 154.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 154.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 154.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 154.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 154.95510250645756, + 75.26722518398769, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 153.45510250645756, + 77.865301395341, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 151.95510250645756, + 80.46337760669432, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 150.45510250645756, + 83.06145381804764, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 148.95510250645756, + 85.65953002940095, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 147.45510250645756, + 88.25760624075427, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 145.95510250645756, + 90.85568245210759, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 144.45510250645756, + 93.4537586634609, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 142.95510250645756, + 96.05183487481422, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 141.45510250645756, + 98.64991108616753, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 139.95510250645756, + 101.24798729752085, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 138.45510250645756, + 103.84606350887417, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 136.95510250645756, + 106.44413972022748, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 135.45510250645756, + 109.0422159315808, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 133.95510250645756, + 111.64029214293411, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 132.45510250645756, + 114.23836835428743, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 130.95510250645756, + 116.83644456564075, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 129.45510250645756, + 119.43452077699406, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 127.95510250645756, + 122.03259698834738, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 126.45510250645756, + 124.6306731997007, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 124.95510250645756, + 127.22874941105401, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 123.45510250645756, + 129.82682562240734, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 121.95510250645756, + 132.42490183376066, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 120.45510250645756, + 135.02297804511397, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 118.95510250645756, + 137.6210542564673, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 117.45510250645756, + 140.2191304678206, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 115.95510250645756, + 142.81720667917392, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 114.45510250645756, + 145.41528289052724, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 112.95510250645756, + 148.01335910188055, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 111.45510250645756, + 150.61143531323387, + -0.013905987369008166 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 111.45510250645756, + 150.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 111.45510250645756, + 153.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 111.45510250645756, + 156.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 111.45510250645756, + 159.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 111.45510250645756, + 162.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 111.45510250645756, + 165.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 111.45510250645756, + 168.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 111.45510250645756, + 171.61143531323387, + -0.013905987369008166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 111.45510250645756, + 174.61143531323387, + -0.013905987369008166 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-32-33_1918502651/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-32-33_1918502651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f84b393964a7c753514c2d76f42e7d4b10d9dd0e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-32-33_1918502651/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -207.02202466224114, + 129.77752105358485, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -208.52202466224114, + 127.17944484223153, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -210.02202466224114, + 124.58136863087822, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -211.52202466224114, + 121.9832924195249, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -213.02202466224114, + 119.38521620817158, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -214.52202466224114, + 116.78713999681827, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -216.02202466224114, + 114.18906378546495, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -217.52202466224114, + 111.59098757411164, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -219.02202466224114, + 108.99291136275832, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -220.52202466224114, + 106.394835151405, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -222.02202466224114, + 103.79675894005169, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -223.52202466224114, + 101.19868272869837, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -225.02202466224114, + 98.60060651734506, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -226.52202466224114, + 96.00253030599174, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -228.02202466224114, + 93.40445409463842, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -229.52202466224114, + 90.80637788328511, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -231.02202466224114, + 88.20830167193179, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -232.52202466224114, + 85.61022546057848, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -234.02202466224114, + 83.01214924922516, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -235.52202466224114, + 80.41407303787184, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -237.02202466224114, + 77.81599682651853, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -238.52202466224114, + 75.21792061516521, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -240.02202466224114, + 72.6198444038119, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -241.52202466224114, + 70.02176819245858, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -243.02202466224114, + 67.42369198110526, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -244.52202466224114, + 64.82561576975195, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -246.02202466224114, + 62.22753955839863, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -247.52202466224114, + 59.629463347045316, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -249.02202466224114, + 57.031387135692, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -250.52202466224114, + 54.433310924338684, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -252.02202466224114, + 51.83523471298537, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -253.52202466224114, + 49.23715850163205, + 4.777272927301695 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -253.52202466224114, + 49.23715850163205, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -256.1201008735944, + 47.73715850163205, + 4.777272927301695 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -256.1201008735944, + 47.73715850163205, + 4.777272927301695 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -256.1201008735944, + 47.73715850163205, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -256.1201008735944, + 44.73715850163205, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.1201008735944, + 41.73715850163205, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -256.1201008735944, + 38.73715850163205, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -256.1201008735944, + 35.73715850163205, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -256.1201008735944, + 32.73715850163205, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -256.1201008735944, + 29.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -256.1201008735944, + 26.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -256.1201008735944, + 23.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -256.1201008735944, + 20.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -256.1201008735944, + 17.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -256.1201008735944, + 14.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -256.1201008735944, + 11.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -256.1201008735944, + 8.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -256.1201008735944, + 5.737158501632052, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -256.1201008735944, + 2.7371585016320523, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -256.1201008735944, + -0.2628414983679477, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -256.1201008735944, + -3.2628414983679477, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -256.1201008735944, + -6.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -256.1201008735944, + -9.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -256.1201008735944, + -12.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -256.1201008735944, + -15.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -256.1201008735944, + -18.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -256.1201008735944, + -21.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -256.1201008735944, + -24.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -256.1201008735944, + -27.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -256.1201008735944, + -30.262841498367948, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -256.1201008735944, + -33.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -256.1201008735944, + -36.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -256.1201008735944, + -39.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -256.1201008735944, + -42.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -256.1201008735944, + -45.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -256.1201008735944, + -48.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -256.1201008735944, + -51.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -256.1201008735944, + -54.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -256.1201008735944, + -57.26284149836795, + 4.777272927301695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -256.1201008735944, + -60.26284149836795, + 4.777272927301695 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-33-12_752392754/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-33-12_752392754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..172ee1cf9417fa09488420b0af577677fbcb3be0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-33-12_752392754/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.21843310586206, + -620.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.62035689450875, + -619.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.02228068315543, + -617.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.42420447180211, + -616.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 109.8261282604488, + -614.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.22805204909548, + -613.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 104.62997583774217, + -611.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 102.03189962638885, + -610.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.43382341503553, + -608.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 96.83574720368222, + -607.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 94.2376709923289, + -605.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.63959478097559, + -604.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.04151856962227, + -602.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.44344235826895, + -601.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 83.84536614691564, + -599.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 81.24728993556232, + -598.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 78.649213724209, + -596.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 76.05113751285569, + -595.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 73.45306130150237, + -593.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.85498509014906, + -592.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 68.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 68.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 62.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 59.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 56.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 53.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 50.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 47.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 44.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 41.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 38.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 35.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 35.25690887879574, + -590.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 32.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 32.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 32.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 32.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 32.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 32.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 32.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 35.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 38.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 41.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 44.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 47.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 50.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 53.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 56.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 59.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 62.658832667442425, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 65.65883266744243, + -589.3207698196904, + -2.343512942063579 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 65.65883266744243, + -589.3207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 68.25690887879574, + -587.8207698196904, + -2.343512942063579 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 68.25690887879574, + -587.8207698196904, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 69.75690887879574, + -585.2226936083371, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 71.25690887879574, + -582.6246173969837, + -2.343512942063579 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 71.25690887879574, + -582.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 73.85498509014906, + -581.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 76.45306130150237, + -579.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 79.05113751285569, + -578.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 81.649213724209, + -576.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 84.24728993556232, + -575.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 86.84536614691564, + -573.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 89.44344235826895, + -572.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 92.04151856962227, + -570.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 94.63959478097559, + -569.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 97.2376709923289, + -567.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 99.83574720368222, + -566.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 102.43382341503553, + -564.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 105.03189962638885, + -563.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 107.62997583774217, + -561.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 110.22805204909548, + -560.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 112.8261282604488, + -558.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 115.42420447180211, + -557.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 118.02228068315543, + -555.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 120.62035689450875, + -554.1246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 123.21843310586206, + -552.6246173969837, + -2.343512942063579 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 123.21843310586206, + -552.6246173969837, + -2.343512942063579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 124.71843310586206, + -550.0265411856303, + -2.343512942063579 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-34-0_1474612399/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-34-0_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a86b019f5ea13c2ccd8dde221681beaaa7b58f81 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-34-0_1474612399/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 498.22498433235387, + 362.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 498.22498433235387, + 359.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 498.22498433235387, + 356.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 498.22498433235387, + 353.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 498.22498433235387, + 350.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 498.22498433235387, + 347.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 498.22498433235387, + 344.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 498.22498433235387, + 341.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 498.22498433235387, + 338.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 498.22498433235387, + 335.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 498.22498433235387, + 332.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 498.22498433235387, + 329.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 498.22498433235387, + 326.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 498.22498433235387, + 323.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 498.22498433235387, + 320.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 498.22498433235387, + 317.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 498.22498433235387, + 314.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 498.22498433235387, + 311.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 498.22498433235387, + 308.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 498.22498433235387, + 305.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 498.22498433235387, + 302.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 498.22498433235387, + 299.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 498.22498433235387, + 296.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 498.22498433235387, + 293.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 498.22498433235387, + 290.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 498.22498433235387, + 287.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 498.22498433235387, + 284.5700361124949, + -2.000465560311784 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 498.22498433235387, + 284.5700361124949, + -2.000465560311784 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 498.22498433235387, + 284.5700361124949, + -2.000465560311784 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 498.22498433235387, + 284.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 495.62690812100055, + 283.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 493.02883190964724, + 281.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 490.4307556982939, + 280.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 487.8326794869406, + 278.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 485.2346032755873, + 277.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 482.636527064234, + 275.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 480.03845085288066, + 274.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 477.44037464152734, + 272.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 474.842298430174, + 271.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 472.2442222188207, + 269.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 469.6461460074674, + 268.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 467.0480697961141, + 266.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 464.44999358476076, + 265.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 461.85191737340745, + 263.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 459.25384116205413, + 262.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 456.6557649507008, + 260.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 454.0576887393475, + 259.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 451.4596125279942, + 257.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 448.86153631664087, + 256.0700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 446.26346010528755, + 254.5700361124949, + -2.000465560311784 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 446.26346010528755, + 254.5700361124949, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 444.76346010528755, + 251.9719599011416, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 443.26346010528755, + 249.37388368978827, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 441.76346010528755, + 246.77580747843496, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 440.26346010528755, + 244.17773126708164, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 438.76346010528755, + 241.57965505572832, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 437.26346010528755, + 238.981578844375, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 435.76346010528755, + 236.3835026330217, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 434.26346010528755, + 233.78542642166838, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 432.76346010528755, + 231.18735021031506, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 431.26346010528755, + 228.58927399896174, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 429.76346010528755, + 225.99119778760843, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 428.26346010528755, + 223.3931215762551, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 426.76346010528755, + 220.7950453649018, + -2.000465560311784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 425.26346010528755, + 218.19696915354848, + -2.000465560311784 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-35-2_1264095060/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-35-2_1264095060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cdda0b58cf4609b94835d414a22b41e204ceae93 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-35-2_1264095060/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1435.6195887991184, + -179.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1435.6195887991184, + -176.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1435.6195887991184, + -173.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1435.6195887991184, + -170.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1435.6195887991184, + -167.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1435.6195887991184, + -164.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1435.6195887991184, + -161.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1435.6195887991184, + -158.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1435.6195887991184, + -155.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1435.6195887991184, + -152.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1435.6195887991184, + -149.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1435.6195887991184, + -146.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1435.6195887991184, + -143.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1435.6195887991184, + -140.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1435.6195887991184, + -137.97175964395748, + -3.8140129199588344 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1435.6195887991184, + -137.97175964395748, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1434.1195887991184, + -135.37368343260417, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1432.6195887991184, + -132.77560722125085, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1431.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1431.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1431.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1431.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1431.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1431.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1434.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1437.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1440.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1443.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1446.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1449.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1452.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1455.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1458.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1461.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1464.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1467.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1470.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1470.1195887991184, + -130.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1472.7176650104718, + -128.67753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1475.3157412218252, + -127.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1477.9138174331786, + -125.67753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1480.511893644532, + -124.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1483.1099698558853, + -122.67753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1485.7080460672387, + -121.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1488.306122278592, + -119.67753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1490.9041984899454, + -118.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1493.5022747012988, + -116.67753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1496.1003509126522, + -115.17753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1498.6984271240055, + -113.67753100989754, + -3.8140129199588344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1501.296503335359, + -112.17753100989754, + -3.8140129199588344 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-36-41_943947739/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-36-41_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76c676b22bf73022a1256a35b6424dba1d14ae02 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-36-41_943947739/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 946.2786819409387, + -515.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 946.2786819409387, + -512.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 946.2786819409387, + -509.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 946.2786819409387, + -506.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 946.2786819409387, + -503.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 946.2786819409387, + -500.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 946.2786819409387, + -497.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 946.2786819409387, + -494.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 946.2786819409387, + -491.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 946.2786819409387, + -488.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 946.2786819409387, + -485.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 946.2786819409387, + -482.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 946.2786819409387, + -479.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 946.2786819409387, + -476.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 946.2786819409387, + -473.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 946.2786819409387, + -470.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 946.2786819409387, + -467.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 946.2786819409387, + -464.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 946.2786819409387, + -461.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 946.2786819409387, + -458.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 946.2786819409387, + -455.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 946.2786819409387, + -452.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 946.2786819409387, + -449.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 946.2786819409387, + -446.9156490904062, + 3.0098358954393003 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 946.2786819409387, + -446.9156490904062, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 944.7786819409387, + -444.3175728790529, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 943.2786819409387, + -441.71949666769956, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 941.7786819409387, + -439.12142045634624, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 940.2786819409387, + -436.5233442449929, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 938.7786819409387, + -433.9252680336396, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 937.2786819409387, + -431.3271918222863, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 935.7786819409387, + -428.729115610933, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 934.2786819409387, + -426.13103939957966, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 932.7786819409387, + -423.53296318822635, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 931.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 931.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 931.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 931.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 928.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 925.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 922.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 919.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 916.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 913.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 910.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 907.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 904.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 901.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 898.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 895.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 892.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 889.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 886.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 883.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 880.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 877.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 874.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 871.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 868.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 865.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 862.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 859.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 856.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 856.2786819409387, + -420.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 853.6806057295853, + -419.43488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 851.0825295182319, + -417.93488697687303, + 3.0098358954393003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 848.4844533068785, + -416.43488697687303, + 3.0098358954393003 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-37-12_1984210012/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-37-12_1984210012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b5d556b379972ce3efa2791afb74c3ada8e1e11 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-37-12_1984210012/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 914.6635731817863, + -176.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 914.6635731817863, + -179.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 914.6635731817863, + -182.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 914.6635731817863, + -185.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 914.6635731817863, + -188.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 914.6635731817863, + -191.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 914.6635731817863, + -194.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 914.6635731817863, + -197.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 914.6635731817863, + -200.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 914.6635731817863, + -203.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 914.6635731817863, + -206.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 914.6635731817863, + -209.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 914.6635731817863, + -212.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 914.6635731817863, + -215.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 914.6635731817863, + -218.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 914.6635731817863, + -221.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 914.6635731817863, + -224.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 914.6635731817863, + -227.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 914.6635731817863, + -230.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 914.6635731817863, + -233.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 914.6635731817863, + -236.86795689316364, + -1.8629861677237667 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 914.6635731817863, + -236.86795689316364, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 916.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 916.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 916.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 916.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 919.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 922.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 925.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 928.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 931.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 934.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 937.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 940.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 943.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 946.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 949.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 952.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 955.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 958.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 961.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 964.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 967.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 970.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 973.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 976.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 979.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 982.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 985.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 988.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 991.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 994.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 997.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1000.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1003.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1006.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1009.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1012.1635731817863, + -239.46603310451695, + -1.8629861677237667 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-37-41_855636226/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-37-41_855636226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e06d8d6a4aa4540d3a865019f428cf36bdd8ea1a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-37-41_855636226/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 5.508055067004605, + 77.57305728125255, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 7.008055067004605, + 74.97498106989923, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 8.508055067004605, + 72.37690485854591, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 10.008055067004605, + 69.7788286471926, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 11.508055067004605, + 67.18075243583928, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 13.008055067004605, + 64.58267622448597, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 14.508055067004605, + 61.98460001313265, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 16.008055067004605, + 59.38652380177933, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 17.508055067004605, + 56.78844759042602, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 19.008055067004605, + 54.1903713790727, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 20.508055067004605, + 51.592295167719385, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 22.008055067004605, + 48.99421895636607, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 23.508055067004605, + 46.39614274501275, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 25.008055067004605, + 43.79806653365944, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 26.508055067004605, + 41.19999032230612, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 28.008055067004605, + 38.601914110952805, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 29.508055067004605, + 36.00383789959949, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 31.008055067004605, + 33.40576168824617, + 4.321625984751535 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 31.008055067004605, + 33.40576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 31.008055067004605, + 30.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 31.008055067004605, + 27.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 31.008055067004605, + 24.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 31.008055067004605, + 21.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 31.008055067004605, + 18.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 31.008055067004605, + 15.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 31.008055067004605, + 12.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 31.008055067004605, + 9.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 31.008055067004605, + 6.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 31.008055067004605, + 3.405761688246173, + 4.321625984751535 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 31.008055067004605, + 3.405761688246173, + 4.321625984751535 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 31.008055067004605, + 3.405761688246173, + 4.321625984751535 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 31.008055067004605, + 3.405761688246173, + 4.321625984751535 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 31.008055067004605, + 3.405761688246173, + 4.321625984751535 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 31.008055067004605, + 3.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 33.60613127835792, + 4.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 36.20420748971124, + 6.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 38.80228370106455, + 7.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 41.40035991241787, + 9.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 43.998436123771185, + 10.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 46.5965123351245, + 12.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 49.19458854647782, + 13.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 51.79266475783113, + 15.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 54.39074096918445, + 16.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 56.988817180537765, + 18.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 59.58689339189108, + 19.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 62.1849696032444, + 21.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 64.78304581459771, + 22.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 67.38112202595103, + 24.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 69.97919823730435, + 25.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 72.57727444865766, + 27.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 75.17535066001098, + 28.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 77.7734268713643, + 30.405761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 80.37150308271761, + 31.905761688246173, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 82.96957929407093, + 33.40576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 85.56765550542424, + 34.90576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 88.16573171677756, + 36.40576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 90.76380792813087, + 37.90576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 93.36188413948419, + 39.40576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 95.9599603508375, + 40.90576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 98.55803656219082, + 42.40576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 101.15611277354414, + 43.90576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 103.75418898489745, + 45.40576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 106.35226519625077, + 46.90576168824617, + 4.321625984751535 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 106.35226519625077, + 46.90576168824617, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 107.85226519625077, + 49.50383789959949, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 109.35226519625077, + 52.101914110952805, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 110.85226519625077, + 54.69999032230612, + 4.321625984751535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 112.35226519625077, + 57.29806653365944, + 4.321625984751535 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-38-12_1749698586/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-38-12_1749698586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..714cfe8c6ccf9ca9ce71b1708fd99e0dcc9e0c7a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-38-12_1749698586/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1464.4637995072558, + -6.944096561124525, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1465.9637995072558, + -9.54217277247784, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1467.4637995072558, + -12.140248983831157, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1468.9637995072558, + -14.738325195184473, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1470.4637995072558, + -17.33640140653779, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1471.9637995072558, + -19.934477617891105, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1473.4637995072558, + -22.53255382924442, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1474.9637995072558, + -25.130630040597737, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1476.4637995072558, + -27.728706251951053, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1477.9637995072558, + -30.32678246330437, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1479.4637995072558, + -32.924858674657685, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1480.9637995072558, + -35.522934886011, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1482.4637995072558, + -38.12101109736432, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1483.9637995072558, + -40.71908730871763, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1485.4637995072558, + -43.31716352007095, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1486.9637995072558, + -45.915239731424265, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1488.4637995072558, + -48.51331594277758, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1489.9637995072558, + -51.1113921541309, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1491.4637995072558, + -53.70946836548421, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1492.9637995072558, + -56.30754457683753, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1494.4637995072558, + -58.905620788190845, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1495.9637995072558, + -61.50369699954416, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1497.4637995072558, + -64.10177321089748, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1498.9637995072558, + -66.6998494222508, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1500.4637995072558, + -69.29792563360411, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1501.9637995072558, + -71.89600184495742, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1503.4637995072558, + -74.49407805631074, + 4.674196175673494 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1503.4637995072558, + -74.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1503.4637995072558, + -77.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1503.4637995072558, + -80.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1503.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1503.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1503.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1503.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1503.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1506.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1509.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1512.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1515.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1518.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1521.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1524.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1527.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1530.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1533.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1536.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1539.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1542.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1545.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1548.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1551.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1554.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1557.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1560.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1563.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1566.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1569.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1569.4637995072558, + -83.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1572.0618757186091, + -84.99407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1574.6599519299625, + -86.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1577.258028141316, + -87.99407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1579.8561043526693, + -89.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1582.4541805640226, + -90.99407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1585.052256775376, + -92.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1587.6503329867294, + -93.99407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1590.2484091980828, + -95.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1592.8464854094361, + -96.99407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1595.4445616207895, + -98.49407805631074, + 4.674196175673494 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1595.4445616207895, + -98.49407805631074, + 4.674196175673494 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1598.4445616207895, + -98.49407805631074, + 4.674196175673494 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-38-51_1469348094/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-38-51_1469348094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b34f110240bce878e518deabbeaaffa886a5afe2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-38-51_1469348094/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 17.343617377130446, + -643.9310093294837, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 15.843617377130446, + -646.5290855408371, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 14.343617377130446, + -649.1271617521904, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 12.843617377130446, + -651.7252379635438, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 11.343617377130446, + -654.3233141748972, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 9.843617377130446, + -656.9213903862506, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 8.343617377130446, + -659.5194665976039, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 6.843617377130447, + -662.1175428089573, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 5.343617377130448, + -664.7156190203107, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3.8436173771304487, + -667.313695231664, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2.3436173771304496, + -669.9117714430174, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 0.8436173771304503, + -672.5098476543708, + -1.7953533276940963 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 0.8436173771304503, + -672.5098476543708, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1.7544588342228657, + -674.0098476543708, + -1.7953533276940963 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1.7544588342228657, + -674.0098476543708, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -3.254458834222865, + -676.6079238657242, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -4.754458834222865, + -679.2060000770775, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -6.254458834222864, + -681.8040762884309, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -7.754458834222863, + -684.4021524997843, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -9.254458834222863, + -687.0002287111377, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -10.754458834222863, + -689.598304922491, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -12.254458834222863, + -692.1963811338444, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -13.754458834222863, + -694.7944573451978, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -15.254458834222863, + -697.3925335565511, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -16.754458834222863, + -699.9906097679045, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -18.254458834222863, + -702.5886859792579, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -19.754458834222863, + -705.1867621906113, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -21.254458834222863, + -707.7848384019646, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -22.754458834222863, + -710.382914613318, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -24.254458834222863, + -712.9809908246714, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -25.754458834222863, + -715.5790670360248, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -27.254458834222863, + -718.1771432473781, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -28.754458834222863, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -28.754458834222863, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -28.754458834222863, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -28.754458834222863, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -28.754458834222863, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -31.754458834222863, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -34.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -37.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -40.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -43.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -46.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -49.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -52.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -55.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -58.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -61.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -64.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -67.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -70.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -73.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -76.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -79.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -82.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -85.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -88.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -91.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -94.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -97.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -100.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -103.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -106.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -109.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -112.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -115.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -118.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -121.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -121.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -121.75445883422286, + -720.7752194587315, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -123.25445883422286, + -723.3732956700849, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -124.75445883422286, + -725.9713718814382, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -126.25445883422286, + -728.5694480927916, + -1.7953533276940963 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -127.75445883422286, + -731.167524304145, + -1.7953533276940963 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-40-7_1036140795/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-40-7_1036140795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02dd2917ad17cf97b81bffae38de6c44deb190ed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-40-7_1036140795/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 729.6818978900051, + -0.3944441921572519, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 731.1818978900051, + 2.203632019196064, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 732.6818978900051, + 4.80170823054938, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 734.1818978900051, + 7.399784441902696, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 735.6818978900051, + 9.997860653256012, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 737.1818978900051, + 12.595936864609328, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 738.6818978900051, + 15.194013075962644, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 740.1818978900051, + 17.79208928731596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 741.6818978900051, + 20.390165498669276, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 743.1818978900051, + 22.988241710022592, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 744.6818978900051, + 25.586317921375908, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 746.1818978900051, + 28.184394132729224, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 747.6818978900051, + 30.78247034408254, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 749.1818978900051, + 33.380546555435856, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 750.6818978900051, + 35.97862276678917, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 752.1818978900051, + 38.57669897814249, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 753.6818978900051, + 41.174775189495804, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 755.1818978900051, + 43.77285140084912, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 756.6818978900051, + 46.370927612202436, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 758.1818978900051, + 48.96900382355575, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 759.6818978900051, + 51.56708003490907, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 761.1818978900051, + 54.165156246262384, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 762.6818978900051, + 56.7632324576157, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 764.1818978900051, + 59.361308668969016, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 765.6818978900051, + 61.95938488032233, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 767.1818978900051, + 64.55746109167565, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 768.6818978900051, + 67.15553730302896, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 770.1818978900051, + 69.75361351438228, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 771.6818978900051, + 72.3516897257356, + -2.392726451780392 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 771.6818978900051, + 72.3516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 774.2799741013584, + 73.8516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 776.8780503127118, + 75.3516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 779.4761265240652, + 76.8516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 782.0742027354186, + 78.3516897257356, + -2.392726451780392 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 782.0742027354186, + 78.3516897257356, + -2.392726451780392 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 782.0742027354186, + 78.3516897257356, + -2.392726451780392 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 782.0742027354186, + 78.3516897257356, + -2.392726451780392 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 782.0742027354186, + 78.3516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 782.0742027354186, + 75.3516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 782.0742027354186, + 72.3516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 782.0742027354186, + 69.3516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 782.0742027354186, + 66.3516897257356, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 782.0742027354186, + 63.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 782.0742027354186, + 60.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 782.0742027354186, + 57.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 782.0742027354186, + 54.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 782.0742027354186, + 51.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 782.0742027354186, + 48.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 782.0742027354186, + 45.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 782.0742027354186, + 42.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 782.0742027354186, + 39.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 782.0742027354186, + 36.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 782.0742027354186, + 33.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 782.0742027354186, + 30.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 782.0742027354186, + 27.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 782.0742027354186, + 24.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 782.0742027354186, + 21.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 782.0742027354186, + 18.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 782.0742027354186, + 15.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 782.0742027354186, + 12.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 782.0742027354186, + 9.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 782.0742027354186, + 6.351689725735596, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 782.0742027354186, + 3.3516897257355964, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 782.0742027354186, + 0.3516897257355964, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 782.0742027354186, + -2.6483102742644036, + -2.392726451780392 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 782.0742027354186, + -5.648310274264404, + -2.392726451780392 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-44-42_1330573317/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-44-42_1330573317/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..223ec6a97610597965ffb2e9a2c6f0b1a323f778 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-44-42_1330573317/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -74.24490001370165, + -729.6737826305507, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -75.74490001370165, + -727.0757064191973, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -77.24490001370165, + -724.477630207844, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -78.74490001370165, + -721.8795539964906, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -80.24490001370165, + -719.2814777851372, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -81.74490001370165, + -716.6834015737838, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -83.24490001370165, + -714.0853253624305, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -84.74490001370165, + -711.4872491510771, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -86.24490001370165, + -708.8891729397237, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -87.74490001370165, + -706.2910967283703, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -89.24490001370165, + -703.693020517017, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -90.74490001370165, + -701.0949443056636, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -92.24490001370165, + -698.4968680943102, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -93.74490001370165, + -695.8987918829569, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -95.24490001370165, + -693.3007156716035, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -96.74490001370165, + -690.7026394602501, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -98.24490001370165, + -688.1045632488967, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -99.74490001370165, + -685.5064870375434, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -101.24490001370165, + -682.90841082619, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -102.74490001370165, + -680.3103346148366, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -104.24490001370165, + -677.7122584034832, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -105.74490001370165, + -675.1141821921299, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -107.24490001370165, + -672.5161059807765, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -108.74490001370165, + -669.9180297694231, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -110.24490001370165, + -667.3199535580698, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -111.74490001370165, + -664.7218773467164, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -113.24490001370165, + -662.123801135363, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -114.74490001370165, + -659.5257249240096, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -116.24490001370165, + -656.9276487126563, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -117.74490001370165, + -654.3295725013029, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.24490001370165, + -651.7314962899495, + -3.6811113521739327 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -119.24490001370165, + -651.7314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -121.84297622505497, + -650.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -124.44105243640828, + -648.7314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -127.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -127.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -127.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -127.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -127.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -127.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -127.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -124.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -121.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -118.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -115.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -112.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -109.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -106.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -103.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -100.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -97.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -94.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -91.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -88.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -85.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -85.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -85.0391286477616, + -647.2314962899495, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -83.5391286477616, + -644.6334200785961, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -82.0391286477616, + -642.0353438672428, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -80.5391286477616, + -639.4372676558894, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -79.0391286477616, + -636.839191444536, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -77.5391286477616, + -634.2411152331827, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -76.0391286477616, + -631.6430390218293, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -74.5391286477616, + -629.0449628104759, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -73.0391286477616, + -626.4468865991225, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -71.5391286477616, + -623.8488103877692, + -3.6811113521739327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -71.5391286477616, + -623.8488103877692, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -68.94105243640828, + -622.3488103877692, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -66.34297622505497, + -620.8488103877692, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -63.74490001370165, + -619.3488103877692, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -61.14682380234834, + -617.8488103877692, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -58.54874759099502, + -616.3488103877692, + -3.6811113521739327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -55.950671379641705, + -614.8488103877692, + -3.6811113521739327 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-44-9_927612902/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-44-9_927612902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a83e21fe2f44cfff1f2e97e7798314702aedcb41 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-44-9_927612902/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.90508114535176, + -511.72904820370286, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -90.40508114535176, + -514.3271244150562, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -88.90508114535176, + -516.9252006264096, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -87.40508114535176, + -519.523276837763, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -85.90508114535176, + -522.1213530491164, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -84.40508114535176, + -524.7194292604697, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -82.90508114535176, + -527.3175054718231, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -81.40508114535176, + -529.9155816831765, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -79.90508114535176, + -532.5136578945298, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -78.40508114535176, + -535.1117341058832, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -76.90508114535176, + -537.7098103172366, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -75.40508114535176, + -540.30788652859, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -73.90508114535176, + -542.9059627399433, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -72.40508114535176, + -545.5040389512967, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -70.90508114535176, + -548.1021151626501, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -69.40508114535176, + -550.7001913740035, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -67.90508114535176, + -553.2982675853568, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -66.40508114535176, + -555.8963437967102, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -64.90508114535176, + -558.4944200080636, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -63.40508114535176, + -561.092496219417, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -61.90508114535176, + -563.6905724307703, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -60.40508114535176, + -566.2886486421237, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -58.90508114535176, + -568.8867248534771, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -57.40508114535176, + -571.4848010648304, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -55.90508114535176, + -574.0828772761838, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -54.40508114535176, + -576.6809534875372, + -2.117491669281905 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -54.40508114535176, + -576.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -54.40508114535176, + -579.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -54.40508114535176, + -582.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -54.40508114535176, + -585.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -54.40508114535176, + -588.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -54.40508114535176, + -591.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -54.40508114535176, + -594.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -54.40508114535176, + -597.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -54.40508114535176, + -600.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.40508114535176, + -603.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -54.40508114535176, + -606.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.40508114535176, + -609.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -54.40508114535176, + -612.6809534875372, + -2.117491669281905 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -54.40508114535176, + -612.6809534875372, + -2.117491669281905 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -54.40508114535176, + -612.6809534875372, + -2.117491669281905 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -54.40508114535176, + -612.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -57.003157356705074, + -614.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -59.60123356805839, + -615.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -62.199309779411706, + -617.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -64.79738599076502, + -618.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -67.39546220211834, + -620.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -69.99353841347165, + -621.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -72.59161462482497, + -623.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -75.18969083617829, + -624.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -77.7877670475316, + -626.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -80.38584325888492, + -627.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -82.98391947023823, + -629.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -85.58199568159155, + -630.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -88.18007189294487, + -632.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -90.77814810429818, + -633.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -93.3762243156515, + -635.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -95.97430052700481, + -636.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -98.57237673835813, + -638.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -101.17045294971145, + -639.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -103.76852916106476, + -641.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -106.36660537241808, + -642.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -108.9646815837714, + -644.1809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -111.56275779512471, + -645.6809534875372, + -2.117491669281905 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -111.56275779512471, + -645.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -114.56275779512471, + -645.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -117.56275779512471, + -645.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -120.56275779512471, + -645.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -123.56275779512471, + -645.6809534875372, + -2.117491669281905 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -126.56275779512471, + -645.6809534875372, + -2.117491669281905 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-45-21_603570492/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-45-21_603570492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e17efb10fb4f99f1b0cb8c1f818880b61bb12d04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-45-21_603570492/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.38579724578253, + 30.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 193.7877210344292, + 31.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 191.1896448230759, + 33.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 188.59156861172258, + 34.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 185.99349240036926, + 36.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 183.39541618901595, + 37.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 180.79733997766263, + 39.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 178.19926376630931, + 40.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 175.601187554956, + 42.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 173.00311134360268, + 43.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 170.40503513224937, + 45.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 167.80695892089605, + 46.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 165.20888270954273, + 48.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 162.61080649818942, + 49.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 160.0127302868361, + 51.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 157.4146540754828, + 52.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 154.81657786412947, + 54.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 152.21850165277615, + 55.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 149.62042544142284, + 57.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 147.02234923006952, + 58.88764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 144.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 144.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 141.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 138.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 135.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 132.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 129.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 126.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 123.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 120.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 117.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 114.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 114.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 114.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.4242730187162, + 60.38764855212498, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 112.9242730187162, + 62.985724763478295, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 111.4242730187162, + 65.5838009748316, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 109.9242730187162, + 68.18187718618492, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 108.4242730187162, + 70.77995339753824, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 106.9242730187162, + 73.37802960889155, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 105.4242730187162, + 75.97610582024487, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 103.9242730187162, + 78.57418203159818, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 102.4242730187162, + 81.1722582429515, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 100.9242730187162, + 83.77033445430482, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 99.4242730187162, + 86.36841066565813, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 97.9242730187162, + 88.96648687701145, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 96.4242730187162, + 91.56456308836476, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 94.9242730187162, + 94.16263929971808, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 93.4242730187162, + 96.7607155110714, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 91.9242730187162, + 99.35879172242471, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 90.4242730187162, + 101.95686793377803, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 88.9242730187162, + 104.55494414513134, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 87.4242730187162, + 107.15302035648466, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 85.9242730187162, + 109.75109656783798, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 84.4242730187162, + 112.34917277919129, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 82.9242730187162, + 114.94724899054461, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 81.4242730187162, + 117.54532520189792, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 79.9242730187162, + 120.14340141325124, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 78.4242730187162, + 122.74147762460456, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 76.9242730187162, + 125.33955383595787, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 75.4242730187162, + 127.93763004731119, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 73.9242730187162, + 130.5357062586645, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 72.4242730187162, + 133.13378247001782, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 70.9242730187162, + 135.73185868137114, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 69.4242730187162, + 138.32993489272445, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 67.9242730187162, + 140.92801110407777, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 66.4242730187162, + 143.52608731543108, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 64.9242730187162, + 146.1241635267844, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 63.42427301871621, + 148.72223973813772, + -4.077395501251427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 61.92427301871621, + 151.32031594949103, + -4.077395501251427 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-46-35_660260756/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-46-35_660260756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f357e0f6d7ad08a3c288d37c49366890ee8f079b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-46-35_660260756/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 110.5532167865712, + -541.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 107.95514057521788, + -543.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 105.35706436386457, + -544.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 102.75898815251125, + -546.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 100.16091194115793, + -547.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 97.56283572980462, + -549.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 94.9647595184513, + -550.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.36668330709799, + -552.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 89.76860709574467, + -553.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 87.17053088439135, + -555.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 84.57245467303804, + -556.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 81.97437846168472, + -558.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 79.3763022503314, + -559.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 76.77822603897809, + -561.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 74.18014982762477, + -562.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 71.58207361627146, + -564.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 68.98399740491814, + -565.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 66.38592119356483, + -567.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 63.78784498221151, + -568.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 61.189768770858194, + -570.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 58.59169255950488, + -571.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 55.99361634815156, + -573.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 53.395540136798246, + -574.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 50.79746392544493, + -576.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 48.199387714091614, + -577.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 45.6013115027383, + -579.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 43.00323529138498, + -580.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 40.405159080031666, + -582.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 37.80708286867835, + -583.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 35.209006657325034, + -585.1401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 32.61093044597172, + -586.6401362484411, + 4.311767471410949 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 32.61093044597172, + -586.6401362484411, + 4.311767471410949 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 32.61093044597172, + -586.6401362484411, + 4.311767471410949 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 32.61093044597172, + -586.6401362484411, + 4.311767471410949 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 32.61093044597172, + -586.6401362484411, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 34.11093044597172, + -589.2382124597943, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 35.61093044597172, + -591.8362886711477, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 37.11093044597172, + -594.4343648825011, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 38.61093044597172, + -597.0324410938545, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 40.11093044597172, + -599.6305173052078, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 41.61093044597172, + -602.2285935165612, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 43.11093044597172, + -604.8266697279146, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 44.61093044597172, + -607.424745939268, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 46.11093044597172, + -610.0228221506213, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 47.61093044597172, + -612.6208983619747, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 49.11093044597172, + -615.2189745733281, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 50.61093044597172, + -617.8170507846814, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 52.11093044597172, + -620.4151269960348, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 53.61093044597172, + -623.0132032073882, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 55.11093044597172, + -625.6112794187416, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 56.61093044597172, + -628.2093556300949, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 58.11093044597172, + -630.8074318414483, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 59.61093044597172, + -633.4055080528017, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 61.11093044597172, + -636.003584264155, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 62.61093044597172, + -638.6016604755084, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 64.11093044597172, + -641.1997366868618, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 65.61093044597172, + -643.7978128982152, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 67.11093044597172, + -646.3958891095685, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 68.61093044597172, + -648.9939653209219, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 70.11093044597172, + -651.5920415322753, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 71.61093044597172, + -654.1901177436287, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 73.11093044597172, + -656.788193954982, + 4.311767471410949 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 73.11093044597172, + -656.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 73.11093044597172, + -659.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 73.11093044597172, + -662.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 73.11093044597172, + -665.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 73.11093044597172, + -668.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 73.11093044597172, + -671.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 73.11093044597172, + -674.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 73.11093044597172, + -677.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 73.11093044597172, + -680.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 73.11093044597172, + -683.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 73.11093044597172, + -686.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 73.11093044597172, + -689.788193954982, + 4.311767471410949 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 73.11093044597172, + -692.788193954982, + 4.311767471410949 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-5-46_1656478042/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-5-46_1656478042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c92d1c9421740c1b4b37ae23e3621497dba470c3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-5-46_1656478042/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -23.099203505828342, + 73.88435442377956, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -21.599203505828342, + 76.48243063513287, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -20.099203505828342, + 79.08050684648619, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -18.599203505828342, + 81.6785830578395, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -17.099203505828342, + 84.27665926919282, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -15.599203505828342, + 86.87473548054614, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -14.099203505828342, + 89.47281169189945, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -12.599203505828342, + 92.07088790325277, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -11.099203505828342, + 94.66896411460608, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -9.599203505828342, + 97.2670403259594, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -8.099203505828342, + 99.86511653731272, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -6.599203505828342, + 102.46319274866603, + -0.8539441096824287 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -6.599203505828342, + 102.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -4.001127294475026, + 103.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1.40305108312171, + 105.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1.195025128231606, + 106.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3.793101339584922, + 108.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 6.391177550938238, + 109.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.989253762291554, + 111.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 11.58732997364487, + 112.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.185406184998186, + 114.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 16.783482396351502, + 115.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 19.381558607704818, + 117.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 21.979634819058134, + 118.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 24.57771103041145, + 120.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 27.175787241764766, + 121.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 29.773863453118082, + 123.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 32.3719396644714, + 124.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 34.970015875824714, + 126.46319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 37.56809208717803, + 127.96319274866603, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 40.166168298531346, + 129.46319274866602, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982947 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 42.76424450988466, + 130.96319274866602, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 45.36232072123798, + 132.46319274866602, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 47.960396932591294, + 133.96319274866602, + -0.8539441096824287 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 47.960396932591294, + 133.96319274866602, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 49.460396932591294, + 136.56126896001933, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 50.960396932591294, + 139.15934517137265, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 52.460396932591294, + 141.75742138272597, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 53.960396932591294, + 144.35549759407928, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 55.460396932591294, + 146.9535738054326, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 56.960396932591294, + 149.5516500167859, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 58.460396932591294, + 152.14972622813923, + -0.8539441096824287 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 58.460396932591294, + 152.14972622813923, + -0.8539441096824287 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 58.460396932591294, + 152.14972622813923, + -0.8539441096824287 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 58.460396932591294, + 152.14972622813923, + -0.8539441096824287 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 58.460396932591294, + 152.14972622813923, + -0.8539441096824287 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 58.460396932591294, + 152.14972622813923, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 59.960396932591294, + 149.5516500167859, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 61.460396932591294, + 146.9535738054326, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 62.960396932591294, + 144.35549759407928, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 64.4603969325913, + 141.75742138272597, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 65.9603969325913, + 139.15934517137265, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 67.4603969325913, + 136.56126896001933, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 68.9603969325913, + 133.96319274866602, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 70.4603969325913, + 131.3651165373127, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 71.9603969325913, + 128.76704032595939, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 73.4603969325913, + 126.16896411460607, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 74.9603969325913, + 123.57088790325275, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 76.4603969325913, + 120.97281169189944, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 77.9603969325913, + 118.37473548054612, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 79.4603969325913, + 115.7766592691928, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 80.9603969325913, + 113.17858305783949, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 82.4603969325913, + 110.58050684648617, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 83.9603969325913, + 107.98243063513286, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 85.4603969325913, + 105.38435442377954, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 86.9603969325913, + 102.78627821242623, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 88.4603969325913, + 100.18820200107291, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 89.9603969325913, + 97.5901257897196, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 91.4603969325913, + 94.99204957836628, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 92.9603969325913, + 92.39397336701296, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 94.4603969325913, + 89.79589715565965, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 95.9603969325913, + 87.19782094430633, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 97.4603969325913, + 84.59974473295301, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 98.9603969325913, + 82.0016685215997, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 100.4603969325913, + 79.40359231024638, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 101.9603969325913, + 76.80551609889307, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 103.4603969325913, + 74.20743988753975, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 104.9603969325913, + 71.60936367618643, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 106.4603969325913, + 69.01128746483312, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 107.9603969325913, + 66.4132112534798, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 109.4603969325913, + 63.815135042126485, + -0.8539441096824287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 110.9603969325913, + 61.21705883077317, + -0.8539441096824287 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-52-44_270744729/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-52-44_270744729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a909f36feb5018f136dbb460d4fc177b07f56fe4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-52-44_270744729/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 353.04211207932696, + -39.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 350.44403586797364, + -40.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 347.8459596566203, + -42.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 345.247883445267, + -43.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 342.6498072339137, + -45.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 340.0517310225604, + -46.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 337.45365481120706, + -48.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 334.85557859985374, + -49.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 332.2575023885004, + -51.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 329.6594261771471, + -52.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 327.0613499657938, + -54.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 324.4632737544405, + -55.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 321.86519754308716, + -57.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 319.26712133173385, + -58.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 316.66904512038053, + -60.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 314.0709689090272, + -61.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 311.4728926976739, + -63.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 308.8748164863206, + -64.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 306.27674027496727, + -66.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 303.67866406361395, + -67.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 301.08058785226063, + -69.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 298.4825116409073, + -70.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 295.884435429554, + -72.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 293.2863592182007, + -73.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 290.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 290.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 290.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 290.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 290.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 290.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 290.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 296.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 302.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 305.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 308.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 311.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 314.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 317.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 320.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 320.68828300684737, + -75.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 323.2863592182007, + -76.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 325.884435429554, + -78.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 328.4825116409073, + -79.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 331.08058785226063, + -81.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 333.67866406361395, + -82.62249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 336.27674027496727, + -84.12249863114413, + 3.6718440979664386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 338.8748164863206, + -85.62249863114413, + 3.6718440979664386 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-53-30_1633108117/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-53-30_1633108117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7463699e03d4570cc7a5d1620ba22426509f665 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-53-30_1633108117/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 224.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 227.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 230.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 233.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 236.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 239.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 242.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 245.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 248.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 251.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 254.68816928176992, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 257.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 260.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 263.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 266.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 269.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 272.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 275.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 278.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 281.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 284.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 284.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 284.6881692817699, + 272.16431613475856, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 286.1881692817699, + 269.56623992340525, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 287.6881692817699, + 266.96816371205193, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 289.1881692817699, + 264.3700875006986, + 0.9987739719496247 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 289.1881692817699, + 264.3700875006986, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 291.7862454931232, + 262.8700875006986, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 294.3843217044765, + 261.3700875006986, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 296.98239791582984, + 259.8700875006986, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 299.58047412718315, + 258.3700875006986, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 302.17855033853647, + 256.8700875006986, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 304.7766265498898, + 255.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 307.3747027612431, + 253.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 309.9727789725964, + 252.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.57085518394973, + 250.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 315.16893139530305, + 249.37008750069862, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 315.16893139530305, + 249.37008750069862, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 315.16893139530305, + 249.37008750069862, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 315.16893139530305, + 249.37008750069862, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 315.16893139530305, + 249.37008750069862, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 315.16893139530305, + 249.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 312.57085518394973, + 247.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 309.9727789725964, + 246.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 307.3747027612431, + 244.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 304.7766265498898, + 243.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 302.17855033853647, + 241.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 299.58047412718315, + 240.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 296.98239791582984, + 238.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 294.3843217044765, + 237.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 291.7862454931232, + 235.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 289.1881692817699, + 234.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 286.5900930704166, + 232.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 283.99201685906326, + 231.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 281.39394064770994, + 229.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 278.7958644363566, + 228.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 276.1977882250033, + 226.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 273.59971201365, + 225.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 271.0016358022967, + 223.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 268.40355959094336, + 222.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 265.80548337959004, + 220.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 263.2074071682367, + 219.37008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 260.6093309568834, + 217.87008750069862, + 0.9987739719496247 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 260.6093309568834, + 217.87008750069862, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 259.1093309568834, + 215.2720112893453, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 257.6093309568834, + 212.67393507799198, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 256.1093309568834, + 210.07585886663867, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 254.6093309568834, + 207.47778265528535, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 253.1093309568834, + 204.87970644393204, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 251.6093309568834, + 202.28163023257872, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 250.1093309568834, + 199.6835540212254, + 0.9987739719496247 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 250.1093309568834, + 199.6835540212254, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 247.5112547455301, + 198.1835540212254, + 0.9987739719496247 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 244.91317853417678, + 196.6835540212254, + 0.9987739719496247 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-54-4_2114738097/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-54-4_2114738097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab97661297d0d3687774298f2b88a71846701930 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-54-4_2114738097/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -187.8381368595587, + -345.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -185.24006064820537, + -343.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -182.64198443685206, + -342.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -180.04390822549874, + -340.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -177.44583201414542, + -339.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -174.8477558027921, + -337.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -172.2496795914388, + -336.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -169.65160338008548, + -334.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.05352716873216, + -333.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -164.45545095737884, + -331.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -161.85737474602553, + -330.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.2592985346722, + -328.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -156.6612223233189, + -327.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -154.06314611196558, + -325.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.46506990061226, + -324.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -148.86699368925895, + -322.6030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -146.26891747790563, + -321.1030802174263, + -1.878718147606774 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -146.26891747790563, + -321.1030802174263, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -144.76891747790563, + -318.50500400607297, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -143.26891747790563, + -315.90692779471965, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.76891747790563, + -313.30885158336633, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -140.26891747790563, + -310.710775372013, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -138.76891747790563, + -308.1126991606597, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.26891747790563, + -305.5146229493064, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -135.76891747790563, + -302.91654673795307, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -134.26891747790563, + -300.31847052659975, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -132.76891747790563, + -297.72039431524644, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -131.26891747790563, + -295.1223181038931, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -129.76891747790563, + -292.5242418925398, + -1.878718147606774 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -129.76891747790563, + -292.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -127.17084126655232, + -291.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -124.572765055199, + -289.5242418925398, + -1.878718147606774 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -124.572765055199, + -289.5242418925398, + -1.878718147606774 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -124.572765055199, + -289.5242418925398, + -1.878718147606774 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -124.572765055199, + -289.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -121.97468884384568, + -291.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -119.37661263249237, + -292.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -116.77853642113905, + -294.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -114.18046020978574, + -295.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -111.58238399843242, + -297.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -108.9843077870791, + -298.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -106.38623157572579, + -300.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -103.78815536437247, + -301.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -101.19007915301916, + -303.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -98.59200294166584, + -304.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -95.99392673031252, + -306.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -93.39585051895921, + -307.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -90.79777430760589, + -309.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -88.19969809625258, + -310.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -85.60162188489926, + -312.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -83.00354567354594, + -313.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -80.40546946219263, + -315.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -77.80739325083931, + -316.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -75.209317039486, + -318.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -72.61124082813268, + -319.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -70.01316461677936, + -321.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -67.41508840542605, + -322.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -64.81701219407273, + -324.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -62.218935982719415, + -325.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -59.6208597713661, + -327.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -57.02278356001278, + -328.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -54.42470734865947, + -330.0242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -51.82663113730615, + -331.5242418925398, + -1.878718147606774 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -51.82663113730615, + -331.5242418925398, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -50.32663113730615, + -334.1223181038931, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -48.82663113730615, + -336.72039431524644, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -47.32663113730615, + -339.31847052659975, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -45.82663113730615, + -341.91654673795307, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -44.32663113730615, + -344.5146229493064, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -42.82663113730615, + -347.1126991606597, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -41.32663113730615, + -349.710775372013, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -39.82663113730615, + -352.30885158336633, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -38.32663113730615, + -354.90692779471965, + -1.878718147606774 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -36.82663113730615, + -357.50500400607297, + -1.878718147606774 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-59-2_524872353/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-59-2_524872353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d57566c1cb96db038f79f551d23f067c8815f3fa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-59-2_524872353/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 920.0880030575297, + -186.20301667174465, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 918.5880030575297, + -188.80109288309797, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 917.0880030575297, + -191.39916909445128, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 915.5880030575297, + -193.9972453058046, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 914.0880030575297, + -196.5953215171579, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 912.5880030575297, + -199.19339772851123, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 911.0880030575297, + -201.79147393986455, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 909.5880030575297, + -204.38955015121786, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 908.0880030575297, + -206.98762636257118, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 906.5880030575297, + -209.5857025739245, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 905.0880030575297, + -212.1837787852778, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 903.5880030575297, + -214.78185499663113, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 902.0880030575297, + -217.37993120798444, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 900.5880030575297, + -219.97800741933776, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 899.0880030575297, + -222.57608363069107, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 897.5880030575297, + -225.1741598420444, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 896.0880030575297, + -227.7722360533977, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 894.5880030575297, + -230.37031226475102, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 893.0880030575297, + -232.96838847610434, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 891.5880030575297, + -235.56646468745765, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 890.0880030575297, + -238.16454089881097, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 888.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 888.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 888.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 888.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 888.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 888.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 891.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 894.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 897.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 900.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 903.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 906.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 909.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 912.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 915.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 918.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 921.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 924.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 927.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 930.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 933.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 936.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 939.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 942.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 945.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 948.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 951.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 954.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 957.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 960.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 960.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 960.5880030575297, + -240.76261711016429, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 962.0880030575297, + -243.3606933215176, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 963.5880030575297, + -245.95876953287092, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 965.0880030575297, + -248.55684574422423, + 3.6373387018326024 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 965.0880030575297, + -248.55684574422423, + 3.6373387018326024 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 967.6860792688831, + -250.05684574422423, + 3.6373387018326024 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-59-31_327254586/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-59-31_327254586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca0c287d1ab307383e77f8fa117ad1810f05afda --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-59-31_327254586/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 127.94611816816375, + -454.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 127.94611816816375, + -457.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 127.94611816816375, + -460.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 127.94611816816375, + -463.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 127.94611816816375, + -466.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 127.94611816816375, + -469.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 127.94611816816375, + -472.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 127.94611816816375, + -475.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 127.94611816816375, + -478.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 127.94611816816375, + -481.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.94611816816375, + -484.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 127.94611816816375, + -487.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 127.94611816816375, + -490.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 127.94611816816375, + -493.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 127.94611816816375, + -496.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 127.94611816816375, + -499.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 127.94611816816375, + -502.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 127.94611816816375, + -505.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 127.94611816816375, + -508.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 127.94611816816375, + -511.47985650834505, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 127.94611816816375, + -514.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 127.94611816816375, + -517.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 127.94611816816375, + -520.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 127.94611816816375, + -523.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 127.94611816816375, + -526.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 127.94611816816375, + -529.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 127.94611816816375, + -532.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 127.94611816816375, + -535.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 127.94611816816375, + -538.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 127.94611816816375, + -541.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 127.94611816816375, + -544.479856508345, + 1.6646369563953165 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 127.94611816816375, + -544.479856508345, + 1.6646369563953165 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 127.94611816816375, + -544.479856508345, + 1.6646369563953165 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 127.94611816816375, + -544.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 125.34804195681043, + -545.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 122.74996574545712, + -547.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 120.1518895341038, + -548.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 117.55381332275049, + -550.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 114.95573711139717, + -551.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 112.35766090004385, + -553.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 109.75958468869054, + -554.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 107.16150847733722, + -556.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 104.5634322659839, + -557.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 101.96535605463059, + -559.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 99.36727984327727, + -560.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 96.76920363192396, + -562.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 94.17112742057064, + -563.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 91.57305120921733, + -565.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 88.97497499786401, + -566.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 86.3768987865107, + -568.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 83.77882257515738, + -569.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 81.18074636380406, + -571.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 78.58267015245075, + -572.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 75.98459394109743, + -574.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 73.38651772974411, + -575.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 70.7884415183908, + -577.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 68.19036530703748, + -578.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 65.59228909568417, + -580.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 62.99421288433085, + -581.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 60.39613667297753, + -583.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 57.79806046162422, + -584.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 55.1999842502709, + -586.479856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 52.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 52.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 49.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 46.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 43.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 40.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 37.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 34.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 31.601908038917585, + -587.979856508345, + 1.6646369563953165 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-7-29_859484421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-7-29_859484421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf4568124db624aa00b40626f92c24b51d7e839f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-7-29_859484421/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 924.2129329125322, + -482.36049561500994, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 925.7129329125322, + -479.7624194036566, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 927.2129329125322, + -477.1643431923033, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 928.7129329125322, + -474.56626698095, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 930.2129329125322, + -471.9681907695967, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 931.7129329125322, + -469.37011455824336, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 933.2129329125322, + -466.77203834689004, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 934.7129329125322, + -464.1739621355367, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 936.2129329125322, + -461.5758859241834, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 937.7129329125322, + -458.9778097128301, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 939.2129329125322, + -456.3797335014768, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 940.7129329125322, + -453.78165729012346, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 942.2129329125322, + -451.18358107877015, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 943.7129329125322, + -448.58550486741683, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 945.2129329125322, + -445.9874286560635, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 946.7129329125322, + -443.3893524447102, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 948.2129329125322, + -440.7912762333569, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 949.7129329125322, + -438.19320002200357, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 951.2129329125322, + -435.59512381065025, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 952.7129329125322, + -432.99704759929693, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 954.2129329125322, + -430.3989713879436, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 955.7129329125322, + -427.8008951765903, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 957.2129329125322, + -425.202818965237, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 958.7129329125322, + -422.60474275388367, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 960.2129329125322, + -420.00666654253035, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 961.7129329125322, + -417.40859033117704, + 1.558498588870484 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 961.7129329125322, + -417.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 961.7129329125322, + -414.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 961.7129329125322, + -411.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 961.7129329125322, + -408.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 961.7129329125322, + -405.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 961.7129329125322, + -402.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 961.7129329125322, + -399.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 961.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 961.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 961.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 961.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 961.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 958.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 955.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 952.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 949.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 946.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 943.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 940.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 937.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 934.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 931.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 928.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 925.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 922.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 919.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 916.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 913.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 910.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 910.7129329125322, + -396.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 908.114856701179, + -394.90859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 905.5167804898256, + -393.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 902.9187042784722, + -391.90859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 900.3206280671188, + -390.40859033117704, + 1.558498588870484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 897.7225518557655, + -388.90859033117704, + 1.558498588870484 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-7-4_1653377373/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-7-4_1653377373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a38cf5f830f33fc601cd8e78ebf872f295fb96c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-7-4_1653377373/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 596.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 599.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 602.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 605.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 608.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 611.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 611.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 611.5090859371584, + -104.46323758814654, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 613.0090859371584, + -101.86516137679322, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 614.5090859371584, + -99.26708516543991, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 616.0090859371584, + -96.66900895408659, + 4.248930682280584 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 616.0090859371584, + -96.66900895408659, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 618.6071621485116, + -95.16900895408659, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 621.205238359865, + -93.66900895408659, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 623.8033145712184, + -92.16900895408659, + 4.248930682280584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 623.8033145712184, + -92.16900895408659, + 4.248930682280584 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 623.8033145712184, + -92.16900895408659, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 625.3033145712184, + -89.57093274273328, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 626.8033145712184, + -86.97285653137996, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 628.3033145712184, + -84.37478032002664, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 629.8033145712184, + -81.77670410867333, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 631.3033145712184, + -79.17862789732001, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 632.8033145712184, + -76.5805516859667, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 634.3033145712184, + -73.98247547461338, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 635.8033145712184, + -71.38439926326006, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 637.3033145712184, + -68.78632305190675, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 638.8033145712184, + -66.18824684055343, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 640.3033145712184, + -63.59017062920012, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 641.8033145712184, + -60.9920944178468, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 643.3033145712184, + -58.394018206493485, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 644.8033145712184, + -55.79594199514017, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 646.3033145712184, + -53.19786578378685, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 647.8033145712184, + -50.59978957243354, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 649.3033145712184, + -48.00171336108022, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 650.8033145712184, + -45.403637149726904, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 652.3033145712184, + -42.80556093837359, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 653.8033145712184, + -40.20748472702027, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 655.3033145712184, + -37.609408515666956, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 656.8033145712184, + -35.01133230431364, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 658.3033145712184, + -32.413256092960324, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 659.8033145712184, + -29.81517988160701, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 661.3033145712184, + -27.217103670253692, + 4.248930682280584 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 661.3033145712184, + -27.217103670253692, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 661.3033145712184, + -24.217103670253692, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 661.3033145712184, + -21.217103670253692, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 661.3033145712184, + -18.217103670253692, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 661.3033145712184, + -15.217103670253692, + 4.248930682280584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 661.3033145712184, + -12.217103670253692, + 4.248930682280584 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-8-2_1914544919/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-8-2_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ae075d676810ca4c9d31b633c55c66eb8a67c45 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-8-2_1914544919/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 273.4545272781962, + 175.40088856980765, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.9545272781962, + 177.99896478116096, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 276.4545272781962, + 180.59704099251428, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 277.9545272781962, + 183.1951172038676, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 279.4545272781962, + 185.7931934152209, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 280.9545272781962, + 188.39126962657423, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 282.4545272781962, + 190.98934583792754, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.9545272781962, + 193.58742204928086, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 285.4545272781962, + 196.18549826063418, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 286.9545272781962, + 198.7835744719875, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 288.4545272781962, + 201.3816506833408, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 289.9545272781962, + 203.97972689469412, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 291.4545272781962, + 206.57780310604744, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.9545272781962, + 209.17587931740076, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 294.4545272781962, + 211.77395552875407, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.9545272781962, + 214.3720317401074, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 297.4545272781962, + 216.9701079514607, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 298.9545272781962, + 219.56818416281402, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 300.4545272781962, + 222.16626037416734, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 301.9545272781962, + 224.76433658552065, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 303.4545272781962, + 227.36241279687397, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 304.9545272781962, + 229.96048900822728, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 306.4545272781962, + 232.5585652195806, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 307.9545272781962, + 235.15664143093392, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 309.4545272781962, + 237.75471764228723, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 310.9545272781962, + 240.35279385364055, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.4545272781962, + 242.95087006499386, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 313.9545272781962, + 245.54894627634718, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 315.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 315.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 315.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 318.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 321.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 324.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 327.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 330.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 333.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 336.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 339.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 342.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 345.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 348.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 351.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 354.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 357.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 360.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 363.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 363.4545272781962, + 248.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 366.05260348954954, + 246.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 368.65067970090286, + 245.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 371.2487559122562, + 243.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 373.8468321236095, + 242.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 376.4449083349628, + 240.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 379.0429845463161, + 239.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 381.64106075766944, + 237.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 384.23913696902275, + 236.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 386.83721318037607, + 234.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 389.4352893917294, + 233.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 392.0333656030827, + 231.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 394.631441814436, + 230.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 397.22951802578933, + 228.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 399.82759423714265, + 227.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 402.42567044849596, + 225.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 405.0237466598493, + 224.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 407.6218228712026, + 222.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 410.2198990825559, + 221.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 412.8179752939092, + 219.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 415.41605150526254, + 218.1470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 418.01412771661586, + 216.6470224877005, + 2.1091956619108423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 420.6122039279692, + 215.1470224877005, + 2.1091956619108423 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-8-37_608413784/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-8-37_608413784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f22202cbd8b02485e1263ac835f0cd165446244 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_19-8-37_608413784/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 331.70254253370086, + -233.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 331.70254253370086, + -230.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 331.70254253370086, + -227.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 331.70254253370086, + -224.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 331.70254253370086, + -221.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 331.70254253370086, + -218.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 331.70254253370086, + -215.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 331.70254253370086, + -212.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 331.70254253370086, + -209.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 331.70254253370086, + -206.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 331.70254253370086, + -203.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 331.70254253370086, + -200.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 331.70254253370086, + -197.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 331.70254253370086, + -194.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 331.70254253370086, + -191.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 331.70254253370086, + -188.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 331.70254253370086, + -185.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 331.70254253370086, + -182.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 331.70254253370086, + -179.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 331.70254253370086, + -176.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 331.70254253370086, + -173.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.70254253370086, + -170.75282787739465, + -2.096753212229872 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 331.70254253370086, + -170.75282787739465, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 330.20254253370086, + -168.15475166604134, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.70254253370086, + -165.55667545468802, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 327.20254253370086, + -162.9585992433347, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 325.70254253370086, + -160.3605230319814, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.20254253370086, + -157.76244682062807, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 322.70254253370086, + -155.16437060927475, + -2.096753212229872 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 322.70254253370086, + -155.16437060927475, + -2.096753212229872 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 322.70254253370086, + -155.16437060927475, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 324.20254253370086, + -152.56629439792144, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 325.70254253370086, + -149.96821818656812, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 327.20254253370086, + -147.3701419752148, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 328.70254253370086, + -144.7720657638615, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 330.20254253370086, + -142.17398955250817, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 331.70254253370086, + -139.57591334115486, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 333.20254253370086, + -136.97783712980154, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 334.70254253370086, + -134.37976091844823, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 336.20254253370086, + -131.7816847070949, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 337.70254253370086, + -129.1836084957416, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 339.20254253370086, + -126.58553228438828, + -2.096753212229872 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 339.20254253370086, + -126.58553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 341.8006187450542, + -125.08553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 344.3986949564075, + -123.58553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 346.9967711677608, + -122.08553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 349.5948473791141, + -120.58553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 352.19292359046744, + -119.08553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 354.79099980182076, + -117.58553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 357.3890760131741, + -116.08553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 359.9871522245274, + -114.58553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 362.5852284358807, + -113.08553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 365.183304647234, + -111.58553228438828, + -2.096753212229872 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 365.183304647234, + -111.58553228438828, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 366.683304647234, + -108.98745607303496, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 368.183304647234, + -106.38937986168165, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 369.683304647234, + -103.79130365032833, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 371.183304647234, + -101.19322743897501, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 372.683304647234, + -98.5951512276217, + -2.096753212229872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 374.183304647234, + -95.99707501626838, + -2.096753212229872 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-1-21_1703964683/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-1-21_1703964683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f91702caf93fc83ac66cdd7e723ef42675257ed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-1-21_1703964683/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -51.611638244654586, + -525.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -51.611638244654586, + -528.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -51.611638244654586, + -531.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -51.611638244654586, + -534.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -51.611638244654586, + -537.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -51.611638244654586, + -540.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -51.611638244654586, + -543.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -51.611638244654586, + -546.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -51.611638244654586, + -549.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -51.611638244654586, + -552.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -51.611638244654586, + -555.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -51.611638244654586, + -558.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -51.611638244654586, + -561.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -51.611638244654586, + -564.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -51.611638244654586, + -567.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -51.611638244654586, + -570.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -51.611638244654586, + -573.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -51.611638244654586, + -576.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -51.611638244654586, + -579.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -51.611638244654586, + -582.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -51.611638244654586, + -585.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.611638244654586, + -588.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -51.611638244654586, + -591.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -51.611638244654586, + -594.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -51.611638244654586, + -597.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -51.611638244654586, + -600.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -51.611638244654586, + -603.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -51.611638244654586, + -606.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -51.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -51.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -51.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -51.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -51.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -48.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -45.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -42.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -39.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -36.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -33.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -30.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -27.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -24.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -21.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -18.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -15.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -12.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -12.611638244654586, + -609.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -10.01356203330127, + -608.4956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -7.415485821947954, + -606.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -4.817409610594638, + -605.4956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2.2193333992413216, + -603.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 0.37874281211199445, + -602.4956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2.9768190234653105, + -600.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 5.5748952348186265, + -599.4956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 8.172971446171942, + -597.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 10.771047657525259, + -596.4956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 13.369123868878575, + -594.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 15.96720008023189, + -593.4956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 18.565276291585207, + -591.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 21.163352502938523, + -590.4956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 23.76142871429184, + -588.9956373667284, + -2.651817957590022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 26.359504925645155, + -587.4956373667284, + -2.651817957590022 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-1-50_352406219/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-1-50_352406219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55e2d4f77e3c62793c54ae6003739375f3acc1cb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-1-50_352406219/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 303.85033252870033, + 146.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 303.85033252870033, + 149.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 303.85033252870033, + 152.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 303.85033252870033, + 155.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 303.85033252870033, + 158.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 303.85033252870033, + 161.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 303.85033252870033, + 164.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 303.85033252870033, + 167.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.85033252870033, + 170.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 303.85033252870033, + 173.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 303.85033252870033, + 176.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 303.85033252870033, + 179.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 303.85033252870033, + 182.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 303.85033252870033, + 185.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 303.85033252870033, + 188.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 303.85033252870033, + 191.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 303.85033252870033, + 194.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 303.85033252870033, + 197.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 303.85033252870033, + 200.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 303.85033252870033, + 203.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 303.85033252870033, + 206.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 303.85033252870033, + 209.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 303.85033252870033, + 212.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 303.85033252870033, + 215.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 303.85033252870033, + 218.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 303.85033252870033, + 221.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 303.85033252870033, + 224.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 303.85033252870033, + 227.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 303.85033252870033, + 230.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 303.85033252870033, + 233.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.85033252870033, + 236.5224225090962, + -3.1536775590205934 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 303.85033252870033, + 236.5224225090962, + -3.1536775590205934 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 303.85033252870033, + 236.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 306.44840874005365, + 238.0224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 309.04648495140697, + 239.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 311.6445611627603, + 241.0224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 314.2426373741136, + 242.5224225090962, + -3.1536775590205934 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 314.2426373741136, + 242.5224225090962, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 315.7426373741136, + 245.12049872044952, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 317.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 317.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 317.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 317.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 320.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 323.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 326.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 329.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 332.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 335.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 338.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 341.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 344.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 347.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 350.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 353.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 356.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 359.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 362.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 365.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 365.2426373741136, + 247.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 367.8407135854669, + 246.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 370.43878979682023, + 244.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 373.03686600817355, + 243.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 375.63494221952686, + 241.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 378.2330184308802, + 240.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 380.8310946422335, + 238.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 383.4291708535868, + 237.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 386.0272470649401, + 235.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 388.62532327629344, + 234.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 391.22339948764676, + 232.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 393.8214756990001, + 231.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 396.4195519103534, + 229.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 399.0176281217067, + 228.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 401.61570433306, + 226.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 404.21378054441334, + 225.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 406.81185675576666, + 223.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 409.40993296711997, + 222.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 412.0080091784733, + 220.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 414.6060853898266, + 219.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 417.2041616011799, + 217.71857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 419.80223781253324, + 216.21857493180283, + -3.1536775590205934 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 422.40031402388655, + 214.71857493180283, + -3.1536775590205934 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-14-8_1231192379/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-14-8_1231192379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7816ba9f402af507705d1f8f2392ea610e534a2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-14-8_1231192379/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 22.5190650262267, + 6.417684732899502, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 25.5190650262267, + 6.417684732899502, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 28.5190650262267, + 6.417684732899502, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 31.5190650262267, + 6.417684732899502, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 34.5190650262267, + 6.417684732899502, + 2.841183477300646 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 34.5190650262267, + 6.417684732899502, + 2.841183477300646 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 34.5190650262267, + 6.417684732899502, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 36.0190650262267, + 9.015760944252818, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.5190650262267, + 11.613837155606134, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 39.0190650262267, + 14.21191336695945, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 40.5190650262267, + 16.809989578312766, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 42.0190650262267, + 19.408065789666082, + 2.841183477300646 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 42.0190650262267, + 19.408065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 44.617141237580014, + 20.908065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 47.21521744893333, + 22.408065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 49.81329366028665, + 23.908065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 52.41136987163996, + 25.408065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 55.00944608299328, + 26.908065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 57.607522294346595, + 28.408065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 60.20559850569991, + 29.908065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 62.80367471705323, + 31.408065789666082, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 65.40175092840654, + 32.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 67.99982713975986, + 34.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 70.59790335111317, + 35.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 73.19597956246649, + 37.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 75.7940557738198, + 38.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 78.39213198517312, + 40.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 80.99020819652644, + 41.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 83.58828440787975, + 43.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 86.18636061923307, + 44.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 88.78443683058639, + 46.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 91.3825130419397, + 47.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 93.98058925329302, + 49.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 96.57866546464633, + 50.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 99.17674167599965, + 52.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 101.77481788735297, + 53.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 104.37289409870628, + 55.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 106.9709703100596, + 56.90806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 109.56904652141291, + 58.40806578966608, + 2.841183477300646 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 109.56904652141291, + 58.40806578966608, + 2.841183477300646 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 109.56904652141291, + 58.40806578966608, + 2.841183477300646 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 109.56904652141291, + 58.40806578966608, + 2.841183477300646 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 109.56904652141291, + 58.40806578966608, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 108.06904652141291, + 61.0061420010194, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 106.56904652141291, + 63.604218212372714, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 105.06904652141291, + 66.20229442372603, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 103.56904652141291, + 68.80037063507935, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 102.06904652141291, + 71.39844684643266, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 100.56904652141291, + 73.99652305778598, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 99.06904652141291, + 76.5945992691393, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 97.56904652141291, + 79.19267548049261, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 96.06904652141291, + 81.79075169184593, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 94.56904652141291, + 84.38882790319924, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 93.06904652141291, + 86.98690411455256, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 91.56904652141291, + 89.58498032590587, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 90.06904652141291, + 92.18305653725919, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 88.56904652141291, + 94.7811327486125, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 87.06904652141291, + 97.37920895996582, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 85.56904652141291, + 99.97728517131914, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 84.06904652141291, + 102.57536138267245, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 82.56904652141291, + 105.17343759402577, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 81.06904652141291, + 107.77151380537909, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 79.56904652141291, + 110.3695900167324, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 78.06904652141291, + 112.96766622808572, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 76.56904652141291, + 115.56574243943903, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 75.06904652141291, + 118.16381865079235, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 73.56904652141291, + 120.76189486214567, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 72.06904652141291, + 123.35997107349898, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 70.56904652141291, + 125.9580472848523, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 69.06904652141291, + 128.5561234962056, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 67.56904652141291, + 131.15419970755892, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 66.06904652141291, + 133.75227591891223, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 64.56904652141291, + 136.35035213026555, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 63.069046521412915, + 138.94842834161886, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 61.569046521412915, + 141.54650455297218, + 2.841183477300646 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 61.569046521412915, + 141.54650455297218, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 61.569046521412915, + 144.54650455297218, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 61.569046521412915, + 147.54650455297218, + 2.841183477300646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 61.569046521412915, + 150.54650455297218, + 2.841183477300646 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-16-45_438792350/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-16-45_438792350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..156758b7cddb54451838350d5352e52549474c51 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-16-45_438792350/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -226.88041755097052, + -127.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -229.47849376232384, + -125.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -232.07656997367715, + -124.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -234.67464618503047, + -122.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -237.27272239638378, + -121.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -239.8707986077371, + -119.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -242.46887481909042, + -118.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -245.06695103044373, + -116.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -247.66502724179705, + -115.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -250.26310345315036, + -113.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -252.86117966450368, + -112.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -255.459255875857, + -110.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -258.0573320872103, + -109.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914895 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -260.6554082985636, + -107.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -263.2534845099169, + -106.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -265.85156072127023, + -104.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -268.44963693262355, + -103.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -271.04771314397686, + -101.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -273.6457893553302, + -100.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -276.2438655666835, + -98.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -278.8419417780368, + -97.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -281.4400179893901, + -95.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -284.03809420074344, + -94.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -286.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -286.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -289.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -292.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -295.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -298.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -301.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -304.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -307.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -310.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -313.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -316.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -319.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -322.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -325.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -328.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -331.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -334.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -331.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -328.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -325.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -322.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -319.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -316.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -313.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -310.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -310.63617041209676, + -92.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -308.03809420074344, + -91.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -305.4400179893901, + -89.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -302.8419417780368, + -88.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -300.2438655666835, + -86.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -297.6457893553302, + -85.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -295.04771314397686, + -83.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -292.44963693262355, + -82.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -289.85156072127023, + -80.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -287.2534845099169, + -79.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -284.6554082985636, + -77.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -282.0573320872103, + -76.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -279.45925587585697, + -74.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -276.86117966450365, + -73.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -274.26310345315034, + -71.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -271.665027241797, + -70.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -269.0669510304437, + -68.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -266.4688748190904, + -67.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -263.8707986077371, + -65.54519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -261.27272239638376, + -64.04519774794456, + 0.45128735251150154 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -261.27272239638376, + -64.04519774794456, + 0.45128735251150154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -258.27272239638376, + -64.04519774794456, + 0.45128735251150154 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-16-8_2147469841/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-16-8_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c9935fcb16ebe813cd50cd33a3a643e297fc62c6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-16-8_2147469841/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 74.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 77.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 80.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 83.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 86.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 92.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 95.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 98.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 101.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 104.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 107.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 110.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 113.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 116.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 119.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 122.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 125.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 125.66736875757132, + 94.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 128.26544496892464, + 93.21620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.86352118027796, + 91.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 133.46159739163127, + 90.21620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.0596736029846, + 88.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 138.6577498143379, + 87.21620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 141.25582602569122, + 85.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 143.85390223704454, + 84.21620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 146.45197844839785, + 82.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 149.05005465975117, + 81.21620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 151.64813087110448, + 79.71620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 154.2462070824578, + 78.21620136805225, + -0.24156642765819214 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 154.2462070824578, + 78.21620136805225, + -0.24156642765819214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 154.2462070824578, + 78.21620136805225, + -0.24156642765819214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 154.2462070824578, + 78.21620136805225, + -0.24156642765819214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 154.2462070824578, + 78.21620136805225, + -0.24156642765819214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 154.2462070824578, + 78.21620136805225, + -0.24156642765819214 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 154.2462070824578, + 78.21620136805225, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 152.7462070824578, + 80.81427757940557, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 151.2462070824578, + 83.41235379075889, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 149.7462070824578, + 86.0104300021122, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 148.2462070824578, + 88.60850621346552, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 146.7462070824578, + 91.20658242481883, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 145.2462070824578, + 93.80465863617215, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 143.7462070824578, + 96.40273484752547, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 142.2462070824578, + 99.00081105887878, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 140.7462070824578, + 101.5988872702321, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 139.2462070824578, + 104.19696348158541, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 137.7462070824578, + 106.79503969293873, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 136.2462070824578, + 109.39311590429205, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 134.7462070824578, + 111.99119211564536, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 133.2462070824578, + 114.58926832699868, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 131.7462070824578, + 117.187344538352, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 130.2462070824578, + 119.78542074970531, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 128.7462070824578, + 122.38349696105863, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 127.2462070824578, + 124.98157317241194, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 125.7462070824578, + 127.57964938376526, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 124.2462070824578, + 130.17772559511857, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 122.7462070824578, + 132.7758018064719, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 121.2462070824578, + 135.3738780178252, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 119.7462070824578, + 137.97195422917852, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 118.2462070824578, + 140.57003044053184, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 116.7462070824578, + 143.16810665188515, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 115.2462070824578, + 145.76618286323847, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 113.7462070824578, + 148.36425907459179, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 112.2462070824578, + 150.9623352859451, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 110.7462070824578, + 153.56041149729842, + -0.24156642765819214 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 110.7462070824578, + 153.56041149729842, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 110.7462070824578, + 156.56041149729842, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 110.7462070824578, + 159.56041149729842, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 110.7462070824578, + 162.56041149729842, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 110.7462070824578, + 165.56041149729842, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 110.7462070824578, + 168.56041149729842, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 110.7462070824578, + 171.56041149729842, + -0.24156642765819214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 110.7462070824578, + 174.56041149729842, + -0.24156642765819214 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-18-4_269441500/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-18-4_269441500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc9d76a4aa541ab62366c7fe3908899f6c337c1b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-18-4_269441500/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -141.92286654688618, + -829.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -141.92286654688618, + -826.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -141.92286654688618, + -823.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -141.92286654688618, + -820.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -141.92286654688618, + -817.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -141.92286654688618, + -814.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -141.92286654688618, + -811.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -141.92286654688618, + -808.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -141.92286654688618, + -805.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -141.92286654688618, + -802.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -141.92286654688618, + -799.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -141.92286654688618, + -796.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -141.92286654688618, + -793.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -141.92286654688618, + -790.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -141.92286654688618, + -787.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -141.92286654688618, + -784.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.92286654688618, + -781.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.92286654688618, + -778.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.92286654688618, + -775.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -141.92286654688618, + -772.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.92286654688618, + -769.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -141.92286654688618, + -766.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -141.92286654688618, + -763.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -141.92286654688618, + -760.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -141.92286654688618, + -757.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -141.92286654688618, + -754.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -141.92286654688618, + -751.5325917304096, + -2.2015198151048327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -141.92286654688618, + -751.5325917304096, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -140.42286654688618, + -748.9345155190563, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -138.92286654688618, + -746.3364393077029, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -137.42286654688618, + -743.7383630963495, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -135.92286654688618, + -741.1402868849962, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -134.42286654688618, + -738.5422106736428, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -132.92286654688618, + -735.9441344622894, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -131.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -131.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -131.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -131.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -125.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -122.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -119.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -116.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -113.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -110.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -107.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -104.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -101.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -98.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -95.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -92.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -89.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -86.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -83.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -80.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -77.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -74.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -71.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -68.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -65.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -62.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -59.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -56.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -53.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -50.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -47.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -44.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -41.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -38.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -38.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -38.42286654688618, + -733.346058250936, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -36.92286654688618, + -730.7479820395827, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -35.42286654688618, + -728.1499058282293, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -33.92286654688618, + -725.5518296168759, + -2.2015198151048327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -33.92286654688618, + -725.5518296168759, + -2.2015198151048327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -31.324790335532867, + -724.0518296168759, + -2.2015198151048327 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-2-30_1600028624/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-2-30_1600028624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..681159326bc01d6477636fbbf1c4b97e163d5fbc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-2-30_1600028624/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -172.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -175.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -181.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -184.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -187.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -190.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -199.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -202.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -205.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -208.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -211.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -214.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -217.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -217.1562244177377, + -81.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -219.754300629091, + -80.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -222.35237684044432, + -78.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -224.95045305179764, + -77.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -227.54852926315095, + -75.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -230.14660547450427, + -74.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -232.74468168585759, + -72.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -235.3427578972109, + -71.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -237.94083410856422, + -69.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -240.53891031991753, + -68.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -243.13698653127085, + -66.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -245.73506274262417, + -65.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -248.33313895397748, + -63.5631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -250.9312151653308, + -62.0631613460657, + 1.6312045458869164 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -250.9312151653308, + -62.0631613460657, + 1.6312045458869164 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -250.9312151653308, + -62.0631613460657, + 1.6312045458869164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -250.9312151653308, + -62.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -250.9312151653308, + -59.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -250.9312151653308, + -56.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -250.9312151653308, + -53.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -250.9312151653308, + -50.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -250.9312151653308, + -47.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -250.9312151653308, + -44.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -250.9312151653308, + -41.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -250.9312151653308, + -38.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -250.9312151653308, + -35.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -250.9312151653308, + -32.0631613460657, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -250.9312151653308, + -29.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -250.9312151653308, + -26.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -250.9312151653308, + -23.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -250.9312151653308, + -20.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -250.9312151653308, + -17.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -250.9312151653308, + -14.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -250.9312151653308, + -11.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -250.9312151653308, + -8.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -250.9312151653308, + -5.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -250.9312151653308, + -2.063161346065698, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -250.9312151653308, + 0.9368386539343021, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -250.9312151653308, + 3.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -250.9312151653308, + 6.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -250.9312151653308, + 9.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -250.9312151653308, + 12.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -250.9312151653308, + 15.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -250.9312151653308, + 18.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -250.9312151653308, + 21.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -250.9312151653308, + 24.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -250.9312151653308, + 27.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -250.9312151653308, + 30.936838653934302, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -250.9312151653308, + 33.9368386539343, + 1.6312045458869164 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -250.9312151653308, + 33.9368386539343, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -252.4312151653308, + 36.53491486528762, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -253.9312151653308, + 39.132991076640934, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -255.4312151653308, + 41.73106728799425, + 1.6312045458869164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -256.9312151653308, + 44.329143499347566, + 1.6312045458869164 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-20-59_155324914/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-20-59_155324914/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d71ca152089f6252121862807184e64df29b9e7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-20-59_155324914/pose.jsonl @@ -0,0 +1,1146 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -244.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -241.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -238.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -235.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -232.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -229.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -226.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -223.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -220.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -217.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -214.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -211.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -208.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -205.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -202.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -199.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -196.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -190.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -187.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -184.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -181.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -178.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -175.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -175.4141306282561, + -98.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -172.81605441690277, + -99.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -170.21797820554946, + -101.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -167.61990199419614, + -102.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -165.02182578284282, + -104.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -162.4237495714895, + -105.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -159.8256733601362, + -107.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -157.22759714878288, + -108.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -154.62952093742956, + -110.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -152.03144472607624, + -111.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -149.43336851472293, + -113.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -146.8352923033696, + -114.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -144.2372160920163, + -116.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -141.63913988066298, + -117.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -139.04106366930966, + -119.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -136.44298745795635, + -120.6331465551919, + 1.3535863743623944 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -136.44298745795635, + -120.6331465551919, + 1.3535863743623944 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -136.44298745795635, + -120.6331465551919, + 1.3535863743623944 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -136.44298745795635, + -120.6331465551919, + 1.3535863743623944 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -136.44298745795635, + -120.6331465551919, + 1.3535863743623944 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -136.44298745795635, + -120.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -139.04106366930966, + -122.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -141.63913988066298, + -123.6331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -144.2372160920163, + -125.1331465551919, + 1.3535863743623944 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -144.2372160920163, + -125.1331465551919, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -145.7372160920163, + -127.73122276654522, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -147.2372160920163, + -130.32929897789853, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -148.7372160920163, + -132.92737518925185, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -150.2372160920163, + -135.52545140060516, + 1.3535863743623944 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -150.2372160920163, + -135.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -150.2372160920163, + -138.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -150.2372160920163, + -141.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -150.2372160920163, + -144.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -150.2372160920163, + -147.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -150.2372160920163, + -150.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -150.2372160920163, + -153.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -150.2372160920163, + -156.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -150.2372160920163, + -159.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -150.2372160920163, + -162.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -150.2372160920163, + -165.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -150.2372160920163, + -168.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -150.2372160920163, + -171.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -150.2372160920163, + -174.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -150.2372160920163, + -177.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -150.2372160920163, + -180.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -150.2372160920163, + -183.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -150.2372160920163, + -186.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -150.2372160920163, + -189.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -150.2372160920163, + -192.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -150.2372160920163, + -195.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -150.2372160920163, + -198.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -150.2372160920163, + -201.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -150.2372160920163, + -204.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -150.2372160920163, + -207.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -150.2372160920163, + -210.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -150.2372160920163, + -213.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -150.2372160920163, + -216.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -150.2372160920163, + -219.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -150.2372160920163, + -222.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -150.2372160920163, + -225.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -150.2372160920163, + -228.52545140060516, + 1.3535863743623944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + -150.2372160920163, + -231.52545140060516, + 1.3535863743623944 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-22-18_1982275856/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-22-18_1982275856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e2f264f215c291e0fbbedb4276426637dd87ad4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-22-18_1982275856/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -202.63112819270629, + -36.3498677169527, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -201.13112819270629, + -38.94794392830602, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -199.63112819270629, + -41.54602013965933, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -198.13112819270629, + -44.14409635101265, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -196.63112819270629, + -46.742172562365965, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -195.13112819270629, + -49.34024877371928, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -193.63112819270629, + -51.9383249850726, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -192.13112819270629, + -54.53640119642591, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -190.63112819270629, + -57.13447740777923, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -189.13112819270629, + -59.732553619132545, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -187.63112819270629, + -62.33062983048586, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -186.13112819270629, + -64.92870604183918, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -184.63112819270629, + -67.5267822531925, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -183.13112819270629, + -70.12485846454581, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -181.63112819270629, + -72.72293467589913, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -180.13112819270629, + -75.32101088725244, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -178.63112819270629, + -77.91908709860576, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -177.13112819270629, + -80.51716330995907, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -175.63112819270629, + -83.11523952131239, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -174.13112819270629, + -85.7133157326657, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -172.63112819270629, + -88.31139194401902, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -171.13112819270629, + -90.90946815537234, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -169.63112819270629, + -93.50754436672565, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -168.13112819270629, + -96.10562057807897, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -166.63112819270629, + -98.70369678943229, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -165.13112819270629, + -101.3017730007856, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -163.63112819270629, + -103.89984921213892, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -162.13112819270629, + -106.49792542349223, + -1.5077064943888847 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -162.13112819270629, + -106.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -159.53305198135297, + -107.99792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -156.93497576999965, + -109.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -154.33689955864634, + -110.99792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -151.73882334729302, + -112.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -149.1407471359397, + -113.99792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -146.5426709245864, + -115.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -143.94459471323307, + -116.99792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -141.34651850187976, + -118.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -138.74844229052644, + -119.99792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -136.15036607917312, + -121.49792542349223, + -1.5077064943888847 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -136.15036607917312, + -121.49792542349223, + -1.5077064943888847 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -136.15036607917312, + -121.49792542349223, + -1.5077064943888847 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -136.15036607917312, + -121.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -136.15036607917312, + -124.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -136.15036607917312, + -127.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -136.15036607917312, + -130.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -136.15036607917312, + -133.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -136.15036607917312, + -136.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -136.15036607917312, + -139.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -136.15036607917312, + -142.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -136.15036607917312, + -145.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -136.15036607917312, + -148.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -136.15036607917312, + -151.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -136.15036607917312, + -154.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -136.15036607917312, + -157.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -136.15036607917312, + -160.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -136.15036607917312, + -163.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -136.15036607917312, + -166.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -136.15036607917312, + -169.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -136.15036607917312, + -172.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -136.15036607917312, + -175.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -136.15036607917312, + -178.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -136.15036607917312, + -181.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -136.15036607917312, + -184.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -136.15036607917312, + -187.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -136.15036607917312, + -190.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -136.15036607917312, + -193.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -136.15036607917312, + -196.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -136.15036607917312, + -199.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -136.15036607917312, + -202.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -136.15036607917312, + -205.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -136.15036607917312, + -208.49792542349223, + -1.5077064943888847 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -136.15036607917312, + -208.49792542349223, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -137.65036607917312, + -211.09600163484555, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -139.15036607917312, + -213.69407784619887, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -140.65036607917312, + -216.29215405755218, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -142.15036607917312, + -218.8902302689055, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -143.65036607917312, + -221.4883064802588, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -145.15036607917312, + -224.08638269161213, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -146.65036607917312, + -226.68445890296545, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -148.15036607917312, + -229.28253511431876, + -1.5077064943888847 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -149.65036607917312, + -231.88061132567208, + -1.5077064943888847 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-23-40_387346491/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-23-40_387346491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..743029c31892f7963af729046f92605d0a14579c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-23-40_387346491/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 592.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 595.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 598.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 601.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 604.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 607.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 607.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 607.9425314925535, + -113.73095077336419, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 609.4425314925535, + -111.13287456201087, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 610.9425314925535, + -108.53479835065755, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 612.4425314925535, + -105.93672213930424, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 613.9425314925535, + -103.33864592795092, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 615.4425314925535, + -100.7405697165976, + 1.4659814193376608 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 615.4425314925535, + -100.7405697165976, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 618.0406077039067, + -99.2405697165976, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 620.6386839152601, + -97.7405697165976, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 623.2367601266135, + -96.2405697165976, + 1.4659814193376608 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 623.2367601266135, + -96.2405697165976, + 1.4659814193376608 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 623.2367601266135, + -96.2405697165976, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 624.7367601266135, + -93.64249350524429, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 626.2367601266135, + -91.04441729389097, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 627.7367601266135, + -88.44634108253766, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 629.2367601266135, + -85.84826487118434, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 630.7367601266135, + -83.25018865983103, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 632.2367601266135, + -80.65211244847771, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 633.7367601266135, + -78.0540362371244, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 635.2367601266135, + -75.45596002577108, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 636.7367601266135, + -72.85788381441776, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 638.2367601266135, + -70.25980760306444, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 639.7367601266135, + -67.66173139171113, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 641.2367601266135, + -65.06365518035781, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 642.7367601266135, + -62.4655789690045, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 644.2367601266135, + -59.86750275765118, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 645.7367601266135, + -57.269426546297865, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 647.2367601266135, + -54.67135033494455, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 648.7367601266135, + -52.07327412359123, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 650.2367601266135, + -49.47519791223792, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 651.7367601266135, + -46.8771217008846, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 653.2367601266135, + -44.279045489531285, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 654.7367601266135, + -41.68096927817797, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 656.2367601266135, + -39.08289306682465, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 657.7367601266135, + -36.48481685547134, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 659.2367601266135, + -33.88674064411802, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 660.7367601266135, + -31.288664432764705, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 662.2367601266135, + -28.69058822141139, + 1.4659814193376608 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 662.2367601266135, + -28.69058822141139, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 662.2367601266135, + -25.69058822141139, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 662.2367601266135, + -22.69058822141139, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 662.2367601266135, + -19.69058822141139, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 662.2367601266135, + -16.69058822141139, + 1.4659814193376608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 662.2367601266135, + -13.690588221411389, + 1.4659814193376608 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-23-7_1275373743/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-23-7_1275373743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9296e924f22751f869aaec3d91001855306cd9f5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-23-7_1275373743/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1540.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1537.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1534.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1531.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1528.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1525.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1522.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1519.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1516.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1513.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1510.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1507.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1504.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1501.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1498.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1495.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1492.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1489.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1486.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1483.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1480.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1477.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1474.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1471.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1468.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1465.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1462.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1459.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1456.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1453.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1453.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1453.3045250620771, + -4.576570231397037, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1451.8045250620771, + -1.9784940200437209, + -4.383877471099201 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1451.8045250620771, + -1.9784940200437209, + -4.383877471099201 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794897 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1451.8045250620771, + -1.9784940200437209, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1451.8045250620771, + 1.0215059799562791, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1451.8045250620771, + 4.021505979956279, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1451.8045250620771, + 7.021505979956279, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1451.8045250620771, + 10.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1451.8045250620771, + 13.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1451.8045250620771, + 16.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1451.8045250620771, + 19.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1451.8045250620771, + 22.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1451.8045250620771, + 25.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1451.8045250620771, + 28.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1451.8045250620771, + 31.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1451.8045250620771, + 34.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1451.8045250620771, + 37.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.8045250620771, + 40.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1451.8045250620771, + 43.02150597995628, + -4.383877471099201 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1451.8045250620771, + 43.02150597995628, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1450.3045250620771, + 45.6195821913096, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1448.8045250620771, + 48.21765840266291, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1447.3045250620771, + 50.81573461401623, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1445.8045250620771, + 53.413810825369545, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1444.3045250620771, + 56.01188703672286, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1442.8045250620771, + 58.60996324807618, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1441.3045250620771, + 61.20803945942949, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1439.8045250620771, + 63.80611567078281, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1438.3045250620771, + 66.40419188213613, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1436.8045250620771, + 69.00226809348945, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1435.3045250620771, + 71.60034430484276, + -4.383877471099201 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1433.8045250620771, + 74.19842051619608, + -4.383877471099201 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-24-43_841148365/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-24-43_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0d3d0b95421326e09d7615ac668d6d1aa7bf0ce --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-24-43_841148365/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -9.601596973713164, + -555.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -9.601596973713164, + -552.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -9.601596973713164, + -549.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -9.601596973713164, + -546.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -9.601596973713164, + -543.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.601596973713164, + -540.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -9.601596973713164, + -537.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -9.601596973713164, + -534.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -9.601596973713164, + -531.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -9.601596973713164, + -528.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -9.601596973713164, + -525.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -9.601596973713164, + -522.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -9.601596973713164, + -519.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -9.601596973713164, + -516.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -9.601596973713164, + -513.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -9.601596973713164, + -510.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -9.601596973713164, + -507.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -9.601596973713164, + -504.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -9.601596973713164, + -501.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -9.601596973713164, + -498.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -9.601596973713164, + -495.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -9.601596973713164, + -492.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -9.601596973713164, + -489.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -9.601596973713164, + -486.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -9.601596973713164, + -483.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -9.601596973713164, + -480.2160065351927, + 0.8719667221894518 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -9.601596973713164, + -480.2160065351927, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -8.101596973713164, + -477.6179303238394, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -6.601596973713164, + -475.0198541124861, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -5.101596973713164, + -472.42177790113277, + 0.8719667221894518 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -5.101596973713164, + -472.42177790113277, + 0.8719667221894518 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -5.101596973713164, + -472.42177790113277, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2.503520762359848, + -470.92177790113277, + 0.8719667221894518 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2.503520762359848, + -470.92177790113277, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1.0035207623598477, + -468.32370168977945, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 0.4964792376401528, + -465.72562547842614, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1.9964792376401532, + -463.1275492670728, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3.4964792376401537, + -460.5294730557195, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4.996479237640154, + -457.9313968443662, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 6.496479237640154, + -455.3333206330129, + 0.8719667221894518 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 6.496479237640154, + -455.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 9.09455544899347, + -453.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 11.692631660346786, + -452.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 14.290707871700102, + -450.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 16.888784083053416, + -449.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 19.486860294406732, + -447.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 22.084936505760048, + -446.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 24.683012717113364, + -444.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 27.28108892846668, + -443.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 29.879165139819996, + -441.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 32.47724135117331, + -440.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 35.07531756252663, + -438.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 37.673393773879944, + -437.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 40.27146998523326, + -435.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 42.869546196586576, + -434.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 45.46762240793989, + -432.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 48.06569861929321, + -431.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 50.663774830646524, + -429.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 53.26185104199984, + -428.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 55.859927253353156, + -426.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 58.45800346470647, + -425.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 61.05607967605979, + -423.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 63.654155887413104, + -422.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 66.25223209876643, + -420.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982977 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 68.85030831011974, + -419.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 71.44838452147306, + -417.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 74.04646073282638, + -416.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 76.64453694417969, + -414.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 79.24261315553301, + -413.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 81.84068936688632, + -411.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 84.43876557823964, + -410.3333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 87.03684178959296, + -408.8333206330129, + 0.8719667221894518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 89.63491800094627, + -407.3333206330129, + 0.8719667221894518 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-27-0_1186452551/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-27-0_1186452551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c4d3a303202b601740dae84affae62373d0ab72 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-27-0_1186452551/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -251.93013160157952, + -164.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -254.52820781293283, + -162.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -257.1262840242862, + -161.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914993 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -259.7243602356395, + -159.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -262.3224364469928, + -158.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -264.9205126583461, + -156.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -267.51858886969944, + -155.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -270.11666508105276, + -153.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -272.7147412924061, + -152.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -275.3128175037594, + -150.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -277.9108937151127, + -149.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.508969926466, + -147.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -283.10704613781934, + -146.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -285.70512234917265, + -144.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -288.30319856052597, + -143.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -290.9012747718793, + -141.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -293.4993509832326, + -140.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -296.0974271945859, + -138.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -298.69550340593923, + -137.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -301.29357961729255, + -135.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -303.89165582864587, + -134.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -306.4897320399992, + -132.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -309.0878082513525, + -131.14284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -311.6858844627058, + -129.64284983585668, + -0.1418770870385364 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -311.6858844627058, + -129.64284983585668, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -313.1858844627058, + -127.04477362450336, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -314.6858844627058, + -124.44669741315005, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -316.1858844627058, + -121.84862120179673, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -317.6858844627058, + -119.25054499044342, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -319.1858844627058, + -116.6524687790901, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -320.6858844627058, + -114.05439256773678, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -322.1858844627058, + -111.45631635638347, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -323.6858844627058, + -108.85824014503015, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -325.1858844627058, + -106.26016393367684, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -326.6858844627058, + -103.66208772232352, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -328.1858844627058, + -101.0640115109702, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -329.6858844627058, + -98.46593529961689, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -331.1858844627058, + -95.86785908826357, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -332.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -332.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -332.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -332.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -332.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -332.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -329.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -326.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -323.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -320.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -317.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -314.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -311.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -308.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -308.6858844627058, + -93.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -306.0878082513525, + -91.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -303.4897320399992, + -90.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -300.89165582864587, + -88.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -298.29357961729255, + -87.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -295.69550340593923, + -85.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -293.0974271945859, + -84.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -290.4993509832326, + -82.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -287.9012747718793, + -81.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -285.30319856052597, + -79.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -282.70512234917265, + -78.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -280.10704613781934, + -76.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -277.508969926466, + -75.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -274.9108937151127, + -73.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -272.3128175037594, + -72.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -269.7147412924061, + -70.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -267.11666508105276, + -69.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -264.51858886969944, + -67.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -261.9205126583461, + -66.26978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -259.3224364469928, + -64.76978287691026, + -0.1418770870385364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -256.7243602356395, + -63.269782876910256, + -0.1418770870385364 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-31-30_2130794395/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-31-30_2130794395/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..326b28855ae8e55cc3237deba26912ab20279990 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-31-30_2130794395/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 970.352118955121, + -446.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 967.7540427437677, + -445.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 965.1559665324144, + -443.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 962.557890321061, + -442.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 959.9598141097076, + -440.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 957.3617378983542, + -439.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 954.7636616870009, + -437.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 952.1655854756475, + -436.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 949.5675092642941, + -434.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 946.9694330529408, + -433.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 944.3713568415874, + -431.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 941.773280630234, + -430.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 939.1752044188806, + -428.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 936.5771282075273, + -427.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 933.9790519961739, + -425.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 931.3809757848205, + -424.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 928.7828995734671, + -422.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 926.1848233621138, + -421.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 923.5867471507604, + -419.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 920.988670939407, + -418.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 918.3905947280537, + -416.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 915.7925185167003, + -415.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 913.1944423053469, + -413.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 910.5963660939935, + -412.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 907.9982898826402, + -410.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 905.4002136712868, + -409.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 902.8021374599334, + -407.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 900.20406124858, + -406.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 897.6059850372267, + -404.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 895.0079088258733, + -403.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 892.4098326145199, + -401.7909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 889.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 889.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 889.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 889.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 889.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 889.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 889.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 892.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 895.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 898.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 901.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 904.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 907.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 910.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 913.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 916.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 919.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 922.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 925.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 928.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 931.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 934.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 937.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 940.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 940.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 940.8117564031666, + -400.2909858011467, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 942.3117564031666, + -397.6929095897934, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 943.8117564031666, + -395.09483337844006, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 945.3117564031666, + -392.49675716708674, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 946.8117564031666, + -389.8986809557334, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 948.3117564031666, + -387.3006047443801, + -0.49989451446630717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 948.3117564031666, + -387.3006047443801, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 950.9098326145199, + -385.8006047443801, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 953.5079088258733, + -384.3006047443801, + -0.49989451446630717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 956.1059850372267, + -382.8006047443801, + -0.49989451446630717 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-31-6_653468858/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-31-6_653468858/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7086a3463bdd4492df54308f168a1ede40caec4e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-31-6_653468858/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1496.6807734897352, + -152.29306250088177, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1495.1807734897352, + -149.69498628952846, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1493.6807734897352, + -147.09691007817514, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1492.1807734897352, + -144.49883386682183, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1490.6807734897352, + -141.9007576554685, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1489.1807734897352, + -139.3026814441152, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1487.6807734897352, + -136.70460523276188, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1486.1807734897352, + -134.10652902140856, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1484.6807734897352, + -131.50845281005525, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1483.1807734897352, + -128.91037659870193, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1481.6807734897352, + -126.31230038734861, + -3.308739134596256 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1481.6807734897352, + -126.31230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1479.0826972783818, + -124.81230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1476.4846210670285, + -123.31230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1473.886544855675, + -121.81230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1471.2884686443217, + -120.31230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1468.6903924329683, + -118.81230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1466.092316221615, + -117.31230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1463.4942400102616, + -115.81230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1460.8961637989082, + -114.31230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1458.2980875875548, + -112.81230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1455.7000113762015, + -111.31230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1453.101935164848, + -109.81230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1450.5038589534947, + -108.31230038734861, + -3.308739134596256 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1450.5038589534947, + -108.31230038734861, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1449.0038589534947, + -105.7142241759953, + -3.308739134596256 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1449.0038589534947, + -105.7142241759953, + -3.308739134596256 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267949063 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1449.0038589534947, + -105.7142241759953, + -3.308739134596256 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966074 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1449.0038589534947, + -105.7142241759953, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1450.5038589534947, + -103.11614796464198, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1452.0038589534947, + -100.51807175328867, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1453.5038589534947, + -97.91999554193535, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1455.0038589534947, + -95.32191933058203, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1456.5038589534947, + -92.72384311922872, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1458.0038589534947, + -90.1257669078754, + -3.308739134596256 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1458.0038589534947, + -90.1257669078754, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1460.601935164848, + -88.6257669078754, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1463.2000113762015, + -87.1257669078754, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1465.7980875875548, + -85.6257669078754, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1468.3961637989082, + -84.1257669078754, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1470.9942400102616, + -82.6257669078754, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1473.592316221615, + -81.1257669078754, + -3.308739134596256 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1473.592316221615, + -81.1257669078754, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1475.092316221615, + -78.52769069652209, + -3.308739134596256 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1476.592316221615, + -75.92961448516877, + -3.308739134596256 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-36-16_1987231011/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-36-16_1987231011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55902d9378fbc623480816ecec0eba62773edb2b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-36-16_1987231011/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1354.9559611172085, + 34.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1354.9559611172085, + 31.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1354.9559611172085, + 28.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1354.9559611172085, + 25.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1354.9559611172085, + 22.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1354.9559611172085, + 19.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1354.9559611172085, + 16.490688259292654, + -1.2463352972967243 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1354.9559611172085, + 16.490688259292654, + -1.2463352972967243 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1354.9559611172085, + 16.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1357.554037328562, + 14.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1360.1521135399153, + 13.490688259292654, + -1.2463352972967243 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1360.1521135399153, + 13.490688259292654, + -1.2463352972967243 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1360.1521135399153, + 13.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1362.7501897512686, + 14.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1365.348265962622, + 16.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1367.9463421739754, + 17.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1370.5444183853288, + 19.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1373.1424945966821, + 20.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1375.7405708080355, + 22.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1378.3386470193889, + 23.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1380.9367232307422, + 25.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1383.5347994420956, + 26.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1386.132875653449, + 28.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1388.7309518648024, + 29.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1391.3290280761557, + 31.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1393.927104287509, + 32.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1396.5251804988625, + 34.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1399.1232567102159, + 35.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1401.7213329215692, + 37.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1404.3194091329226, + 38.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1406.917485344276, + 40.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1409.5155615556293, + 41.990688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1412.1136377669827, + 43.490688259292654, + -1.2463352972967243 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1412.1136377669827, + 43.490688259292654, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1413.6136377669827, + 46.08876447064597, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1415.1136377669827, + 48.686840681999286, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1416.6136377669827, + 51.2849168933526, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1418.1136377669827, + 53.88299310470592, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1419.6136377669827, + 56.481069316059234, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1421.1136377669827, + 59.07914552741255, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1422.6136377669827, + 61.677221738765866, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1424.1136377669827, + 64.27529795011918, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1425.6136377669827, + 66.8733741614725, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1427.1136377669827, + 69.47145037282581, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1428.6136377669827, + 72.06952658417913, + -1.2463352972967243 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1430.1136377669827, + 74.66760279553245, + -1.2463352972967243 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-37-42_2103318776/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-37-42_2103318776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..287ea8afb7edda61605ce919571bf24ebaf2c630 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-37-42_2103318776/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -100.38001897617283, + -423.18273789805824, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -98.88001897617283, + -420.5846616867049, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.38001897617283, + -417.9865854753516, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -95.88001897617283, + -415.3885092639983, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -94.38001897617283, + -412.79043305264497, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -92.88001897617283, + -410.19235684129166, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -91.38001897617283, + -407.59428062993834, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -89.88001897617283, + -404.996204418585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -88.38001897617283, + -402.3981282072317, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -86.88001897617283, + -399.8000519958784, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -85.38001897617283, + -397.2019757845251, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -83.88001897617283, + -394.60389957317176, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -82.38001897617283, + -392.00582336181844, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -80.88001897617283, + -389.4077471504651, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -79.38001897617283, + -386.8096709391118, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -77.88001897617283, + -384.2115947277585, + 1.7180956525538251 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -77.88001897617283, + -384.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -75.28194276481952, + -382.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -72.6838665534662, + -381.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -70.08579034211289, + -379.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -67.48771413075957, + -378.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -64.88963791940625, + -376.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -62.29156170805294, + -375.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -59.69348549669962, + -373.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -57.09540928534631, + -372.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -54.49733307399299, + -370.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -51.899256862639675, + -369.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -49.30118065128636, + -367.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -46.70310443993304, + -366.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -44.10502822857973, + -364.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -41.50695201722641, + -363.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -38.908875805873095, + -361.7115947277585, + 1.7180956525538251 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -38.908875805873095, + -361.7115947277585, + 1.7180956525538251 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -38.908875805873095, + -361.7115947277585, + 1.7180956525538251 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -38.908875805873095, + -361.7115947277585, + 1.7180956525538251 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -38.908875805873095, + -361.7115947277585, + 1.7180956525538251 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -38.908875805873095, + -361.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -41.50695201722641, + -360.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -44.10502822857973, + -358.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -46.70310443993304, + -357.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -49.30118065128636, + -355.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -51.899256862639675, + -354.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -54.49733307399299, + -352.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -57.09540928534631, + -351.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -59.69348549669962, + -349.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -62.29156170805294, + -348.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -64.88963791940625, + -346.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -67.48771413075957, + -345.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -70.08579034211289, + -343.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -72.6838665534662, + -342.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -75.28194276481952, + -340.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -77.88001897617283, + -339.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -80.47809518752615, + -337.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -83.07617139887947, + -336.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -85.67424761023278, + -334.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -88.2723238215861, + -333.2115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -90.87040003293941, + -331.7115947277585, + 1.7180956525538251 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -90.87040003293941, + -331.7115947277585, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -92.37040003293941, + -329.1135185164052, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -93.87040003293941, + -326.51544230505186, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -95.37040003293941, + -323.91736609369855, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -96.87040003293941, + -321.31928988234523, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -98.37040003293941, + -318.7212136709919, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -99.87040003293941, + -316.1231374596386, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -101.37040003293941, + -313.5250612482853, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -102.87040003293941, + -310.92698503693197, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -104.37040003293941, + -308.32890882557865, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -105.87040003293941, + -305.73083261422533, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -107.37040003293941, + -303.132756402872, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -108.87040003293941, + -300.5346801915187, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -110.37040003293941, + -297.9366039801654, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -111.87040003293941, + -295.33852776881207, + 1.7180956525538251 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -111.87040003293941, + -295.33852776881207, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -114.46847624429273, + -293.83852776881207, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -117.06655245564605, + -292.33852776881207, + 1.7180956525538251 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -119.66462866699936, + -290.83852776881207, + 1.7180956525538251 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-37-9_1784639529/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-37-9_1784639529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf470d07f3d89631e1ce2e50f19c38a24ded2ce9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-37-9_1784639529/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1046.4691453213916, + -322.1138629698289, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1044.9691453213916, + -319.5157867584756, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1043.4691453213916, + -316.9177105471223, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1041.9691453213916, + -314.31963433576897, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1040.4691453213916, + -311.72155812441565, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1038.9691453213916, + -309.12348191306234, + 4.030290312940766 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1038.9691453213916, + -309.12348191306234, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1036.3710691100382, + -307.62348191306234, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1033.7729928986848, + -306.12348191306234, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1031.1749166873315, + -304.62348191306234, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1028.576840475978, + -303.12348191306234, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1025.9787642646247, + -301.62348191306234, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1023.3806880532713, + -300.12348191306234, + 4.030290312940766 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1023.3806880532713, + -300.12348191306234, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1021.8806880532713, + -297.525405701709, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1020.3806880532713, + -294.9273294903557, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1018.8806880532713, + -292.3292532790024, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1017.3806880532713, + -289.73117706764907, + 4.030290312940766 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1017.3806880532713, + -289.73117706764907, + 4.030290312940766 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1017.3806880532713, + -289.73117706764907, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1018.8806880532713, + -287.13310085629575, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1020.3806880532713, + -284.53502464494244, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1021.8806880532713, + -281.9369484335891, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1023.3806880532713, + -279.3388722222358, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1024.8806880532713, + -276.7407960108825, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1026.3806880532713, + -274.1427197995292, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1027.8806880532713, + -271.54464358817586, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1029.3806880532713, + -268.94656737682254, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1030.8806880532713, + -266.3484911654692, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1032.3806880532713, + -263.7504149541159, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1033.8806880532713, + -261.1523387427626, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1035.3806880532713, + -258.5542625314093, + 4.030290312940766 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1035.3806880532713, + -258.5542625314093, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1037.9787642646247, + -257.0542625314093, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1040.576840475978, + -255.55426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1043.1749166873315, + -254.05426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1045.7729928986848, + -252.55426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1048.3710691100382, + -251.05426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1050.9691453213916, + -249.55426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1053.567221532745, + -248.05426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1056.1652977440983, + -246.55426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1058.7633739554517, + -245.05426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1061.361450166805, + -243.55426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1063.9595263781584, + -242.05426253140928, + 4.030290312940766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1066.5576025895118, + -240.55426253140928, + 4.030290312940766 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-38-20_1597322404/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-38-20_1597322404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c806b8c60ac0b71d0849bcda8f8c5eefd996035 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-38-20_1597322404/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1382.6799663444351, + 44.03629015312944, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1384.1799663444351, + 46.63436636448276, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1385.6799663444351, + 49.232442575836075, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1387.1799663444351, + 51.83051878718939, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1388.6799663444351, + 54.42859499854271, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1390.1799663444351, + 57.02667120989602, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1391.6799663444351, + 59.62474742124934, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1393.1799663444351, + 62.222823632602655, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1394.6799663444351, + 64.82089984395597, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1396.1799663444351, + 67.41897605530929, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1397.6799663444351, + 70.0170522666626, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1399.1799663444351, + 72.61512847801592, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1400.6799663444351, + 75.21320468936923, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1402.1799663444351, + 77.81128090072255, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1403.6799663444351, + 80.40935711207587, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1405.1799663444351, + 83.00743332342918, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1406.6799663444351, + 85.6055095347825, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1408.1799663444351, + 88.20358574613581, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1409.6799663444351, + 90.80166195748913, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1411.1799663444351, + 93.39973816884245, + -0.4827568723145266 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.1799663444351, + 93.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1411.1799663444351, + 96.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1411.1799663444351, + 99.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1411.1799663444351, + 102.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1411.1799663444351, + 105.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1411.1799663444351, + 108.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1411.1799663444351, + 111.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1411.1799663444351, + 114.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1411.1799663444351, + 117.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1411.1799663444351, + 120.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1411.1799663444351, + 123.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1411.1799663444351, + 126.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1411.1799663444351, + 129.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1411.1799663444351, + 132.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1411.1799663444351, + 135.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1411.1799663444351, + 138.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1411.1799663444351, + 141.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1411.1799663444351, + 144.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1411.1799663444351, + 147.39973816884245, + -0.4827568723145266 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1411.1799663444351, + 147.39973816884245, + -0.4827568723145266 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1411.1799663444351, + 147.39973816884245, + -0.4827568723145266 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1411.1799663444351, + 147.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1408.5818901330817, + 148.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1405.9838139217284, + 150.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1403.385737710375, + 151.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1400.7876614990216, + 153.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1398.1895852876683, + 154.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1395.5915090763149, + 156.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1392.9934328649615, + 157.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1390.3953566536081, + 159.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1387.7972804422548, + 160.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1385.1992042309014, + 162.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1382.601128019548, + 163.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1380.0030518081946, + 165.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1377.4049755968413, + 166.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1374.806899385488, + 168.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1372.2088231741345, + 169.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1369.6107469627811, + 171.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1367.0126707514278, + 172.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1364.4145945400744, + 174.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1361.816518328721, + 175.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1359.2184421173677, + 177.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1356.6203659060143, + 178.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1354.022289694661, + 180.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1351.4242134833075, + 181.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1348.8261372719542, + 183.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1346.2280610606008, + 184.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1343.6299848492474, + 186.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1341.031908637894, + 187.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1338.4338324265407, + 189.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1335.8357562151873, + 190.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1333.237680003834, + 192.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1330.6396037924806, + 193.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1328.0415275811272, + 195.39973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1325.4434513697738, + 196.89973816884245, + -0.4827568723145266 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1325.4434513697738, + 196.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1322.4434513697738, + 196.89973816884245, + -0.4827568723145266 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1319.4434513697738, + 196.89973816884245, + -0.4827568723145266 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-4-19_112805732/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-4-19_112805732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bca294bad88547da7e6ac1199c4593ca2db271d0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-4-19_112805732/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1376.3677945113782, + 39.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1378.9658707227316, + 37.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1381.563946934085, + 36.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1384.1620231454383, + 34.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1386.7600993567917, + 33.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1389.358175568145, + 31.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1391.9562517794984, + 30.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1394.5543279908518, + 28.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1397.1524042022052, + 27.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1399.7504804135585, + 25.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1402.348556624912, + 24.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1404.9466328362653, + 22.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1407.5447090476187, + 21.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1410.142785258972, + 19.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1412.7408614703254, + 18.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1415.3389376816788, + 16.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1417.9370138930321, + 15.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1420.5350901043855, + 13.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1423.133166315739, + 12.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1425.7312425270923, + 10.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1428.3293187384456, + 9.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1430.927394949799, + 7.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1433.5254711611524, + 6.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1436.1235473725058, + 4.739671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1438.7216235838591, + 3.239671990758744, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1441.3196997952125, + 1.7396719907587441, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1443.9177760065659, + 0.23967199075874435, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1446.5158522179192, + -1.2603280092412554, + -4.3829995492954215 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1446.5158522179192, + -1.2603280092412554, + -4.3829995492954215 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1446.5158522179192, + -1.2603280092412554, + -4.3829995492954215 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948868 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1446.5158522179192, + -1.2603280092412554, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1446.5158522179192, + -4.260328009241255, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1446.5158522179192, + -7.260328009241255, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1446.5158522179192, + -10.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1446.5158522179192, + -13.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1446.5158522179192, + -16.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1446.5158522179192, + -19.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1446.5158522179192, + -22.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1446.5158522179192, + -25.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1446.5158522179192, + -28.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1446.5158522179192, + -31.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1446.5158522179192, + -34.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1446.5158522179192, + -37.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1446.5158522179192, + -40.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1446.5158522179192, + -43.260328009241256, + -4.3829995492954215 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1446.5158522179192, + -43.260328009241256, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1445.0158522179192, + -45.85840422059457, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1443.5158522179192, + -48.45648043194789, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1442.0158522179192, + -51.054556643301204, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1440.5158522179192, + -53.65263285465452, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1439.0158522179192, + -56.250709066007836, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1437.5158522179192, + -58.84878527736115, + -4.3829995492954215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1436.0158522179192, + -61.44686148871447, + -4.3829995492954215 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-41-12_352118606/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-41-12_352118606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..927f1fe4963ca80b188290fc7b1ea9c2e2c38d82 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-41-12_352118606/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.79764119288625, + -115.53007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -112.39571740423956, + -117.03007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -114.99379361559288, + -118.53007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -117.5918698269462, + -120.03007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.18994603829951, + -121.53007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -122.78802224965283, + -123.03007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -125.38609846100614, + -124.53007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -127.98417467235946, + -126.03007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -130.5822508837128, + -127.53007378744088, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -133.1803270950661, + -129.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914984 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -135.77840330641942, + -130.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -138.37647951777274, + -132.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -140.97455572912605, + -133.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -143.57263194047937, + -135.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -146.17070815183268, + -136.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -148.768784363186, + -138.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -151.36686057453932, + -139.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -153.96493678589263, + -141.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -156.56301299724595, + -142.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.16108920859926, + -144.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -161.75916541995258, + -145.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -164.3572416313059, + -147.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -166.9553178426592, + -148.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -169.55339405401253, + -150.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -172.15147026536584, + -151.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -174.74954647671916, + -153.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -177.34762268807248, + -154.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -179.9456988994258, + -156.03007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -182.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -182.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -185.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -188.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -191.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -194.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -197.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -200.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -200.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -200.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -200.5437751107791, + -157.53007378744087, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -199.0437751107791, + -160.12814999879419, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -197.5437751107791, + -162.7262262101475, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -196.0437751107791, + -165.32430242150082, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -194.5437751107791, + -167.92237863285413, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -193.0437751107791, + -170.52045484420745, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -191.5437751107791, + -173.11853105556077, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -190.0437751107791, + -175.71660726691408, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -188.5437751107791, + -178.3146834782674, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -187.0437751107791, + -180.9127596896207, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -185.5437751107791, + -183.51083590097403, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -184.0437751107791, + -186.10891211232735, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -182.5437751107791, + -188.70698832368066, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -181.0437751107791, + -191.30506453503398, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -179.5437751107791, + -193.9031407463873, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -178.0437751107791, + -196.5012169577406, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -176.5437751107791, + -199.09929316909393, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -175.0437751107791, + -201.69736938044724, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -173.5437751107791, + -204.29544559180056, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -172.0437751107791, + -206.89352180315387, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -170.5437751107791, + -209.4915980145072, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -169.0437751107791, + -212.0896742258605, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -167.5437751107791, + -214.68775043721382, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -166.0437751107791, + -217.28582664856714, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -164.5437751107791, + -219.88390285992045, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -163.0437751107791, + -222.48197907127377, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -161.5437751107791, + -225.0800552826271, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -160.0437751107791, + -227.6781314939804, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -158.5437751107791, + -230.27620770533372, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -157.0437751107791, + -232.87428391668703, + -4.081709536411234 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -157.0437751107791, + -232.87428391668703, + -4.081709536411234 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -157.0437751107791, + -232.87428391668703, + -4.081709536411234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -154.0437751107791, + -232.87428391668703, + -4.081709536411234 + ], + "type": "stop", + "value": 0, + "yaw": -2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-41-45_1782436840/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-41-45_1782436840/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9be37ad976eb0f5933a5482428909bf90a80b9d3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-41-45_1782436840/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -203.6126137638301, + -40.95282647165773, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -202.1126137638301, + -43.550902683011046, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -200.6126137638301, + -46.14897889436436, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -199.1126137638301, + -48.74705510571768, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -197.6126137638301, + -51.345131317070994, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -196.1126137638301, + -53.94320752842431, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -194.6126137638301, + -56.541283739777626, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.1126137638301, + -59.13935995113094, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -191.6126137638301, + -61.73743616248426, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -190.1126137638301, + -64.33551237383757, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.6126137638301, + -66.93358858519089, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -187.1126137638301, + -69.5316647965442, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -185.6126137638301, + -72.12974100789752, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -184.1126137638301, + -74.72781721925084, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -182.6126137638301, + -77.32589343060415, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -181.1126137638301, + -79.92396964195747, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.6126137638301, + -82.52204585331079, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -178.1126137638301, + -85.1201220646641, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -176.6126137638301, + -87.71819827601742, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -175.1126137638301, + -90.31627448737073, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -173.6126137638301, + -92.91435069872405, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -172.1126137638301, + -95.51242691007737, + 4.657621444299519 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -172.1126137638301, + -95.51242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -169.51453755247678, + -97.01242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -166.91646134112347, + -98.51242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -164.31838512977015, + -100.01242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -161.72030891841683, + -101.51242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -159.12223270706352, + -103.01242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -156.5241564957102, + -104.51242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -153.92608028435689, + -106.01242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -151.32800407300357, + -107.51242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -148.72992786165025, + -109.01242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -146.13185165029694, + -110.51242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -143.53377543894362, + -112.01242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -140.9356992275903, + -113.51242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -138.337623016237, + -115.01242691007737, + 4.657621444299519 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -138.337623016237, + -115.01242691007737, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -136.837623016237, + -117.61050312143068, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -135.337623016237, + -120.208579332784, + 4.657621444299519 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -135.337623016237, + -120.208579332784, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -135.337623016237, + -123.208579332784, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -135.337623016237, + -126.208579332784, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -135.337623016237, + -129.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -135.337623016237, + -132.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -135.337623016237, + -135.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -135.337623016237, + -138.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -135.337623016237, + -141.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -135.337623016237, + -144.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -135.337623016237, + -147.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -135.337623016237, + -150.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -135.337623016237, + -153.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -135.337623016237, + -156.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -135.337623016237, + -159.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -135.337623016237, + -162.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -135.337623016237, + -165.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -135.337623016237, + -168.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -135.337623016237, + -171.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -135.337623016237, + -174.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -135.337623016237, + -177.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -135.337623016237, + -180.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -135.337623016237, + -183.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -135.337623016237, + -186.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -135.337623016237, + -189.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -135.337623016237, + -192.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -135.337623016237, + -195.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -135.337623016237, + -198.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -135.337623016237, + -201.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -135.337623016237, + -204.20857933278398, + 4.657621444299519 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -135.337623016237, + -204.20857933278398, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -136.837623016237, + -206.8066555441373, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -138.337623016237, + -209.40473175549062, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -139.837623016237, + -212.00280796684393, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -141.337623016237, + -214.60088417819725, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -142.837623016237, + -217.19896038955056, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -144.337623016237, + -219.79703660090388, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -145.837623016237, + -222.3951128122572, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -147.337623016237, + -224.9931890236105, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -148.837623016237, + -227.59126523496383, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -150.337623016237, + -230.18934144631714, + 4.657621444299519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -151.837623016237, + -232.78741765767046, + 4.657621444299519 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-42-57_165344818/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-42-57_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c718c62b99eb25bc6934b10ef5d3ce9a15ac6bac --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-42-57_165344818/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -230.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -227.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -224.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -221.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -218.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -215.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -212.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -209.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -206.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -203.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -200.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -197.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -194.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -191.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -185.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -182.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -182.52414742548498, + -761.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -179.92607121413167, + -759.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -177.32799500277835, + -758.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -174.72991879142504, + -756.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -172.13184258007172, + -755.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -169.5337663687184, + -753.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -166.9356901573651, + -752.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -164.33761394601177, + -750.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -161.73953773465846, + -749.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -159.14146152330514, + -747.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -156.54338531195182, + -746.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -153.9453091005985, + -744.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -151.3472328892452, + -743.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -148.74915667789188, + -741.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -146.15108046653856, + -740.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -143.55300425518524, + -738.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -140.95492804383193, + -737.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -138.3568518324786, + -735.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -135.7587756211253, + -734.2630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -133.16069940977198, + -732.7630950114682, + -4.894290179323984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -133.16069940977198, + -732.7630950114682, + -4.894290179323984 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -133.16069940977198, + -732.7630950114682, + -4.894290179323984 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -133.16069940977198, + -732.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -133.16069940977198, + -729.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -133.16069940977198, + -726.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -133.16069940977198, + -723.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -133.16069940977198, + -720.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -133.16069940977198, + -717.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -133.16069940977198, + -714.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -133.16069940977198, + -711.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -133.16069940977198, + -708.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -133.16069940977198, + -705.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -133.16069940977198, + -702.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -133.16069940977198, + -699.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -133.16069940977198, + -696.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -133.16069940977198, + -693.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -133.16069940977198, + -690.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -133.16069940977198, + -687.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -133.16069940977198, + -684.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -133.16069940977198, + -681.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -133.16069940977198, + -678.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -133.16069940977198, + -675.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -133.16069940977198, + -672.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -133.16069940977198, + -669.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -133.16069940977198, + -666.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -133.16069940977198, + -663.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -133.16069940977198, + -660.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -133.16069940977198, + -657.7630950114682, + -4.894290179323984 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -133.16069940977198, + -657.7630950114682, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -131.66069940977198, + -655.1650188001149, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -130.16069940977198, + -652.5669425887615, + -4.894290179323984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -128.66069940977198, + -649.9688663774082, + -4.894290179323984 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-44-47_1351797369/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-44-47_1351797369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3dfc787a9c75db4f154f068e267d0e127409ccaa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-44-47_1351797369/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1454.391545396495, + 154.79124316192272, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1452.891545396495, + 152.1931669505694, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1451.391545396495, + 149.5950907392161, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1449.891545396495, + 146.99701452786277, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1448.391545396495, + 144.39893831650946, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1446.891545396495, + 141.80086210515614, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1445.391545396495, + 139.20278589380283, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1443.891545396495, + 136.6047096824495, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1442.391545396495, + 134.0066334710962, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1440.891545396495, + 131.40855725974288, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1439.391545396495, + 128.81048104838956, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1437.891545396495, + 126.21240483703625, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1436.391545396495, + 123.61432862568293, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1434.891545396495, + 121.01625241432961, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1433.391545396495, + 118.4181762029763, + 0.2844577131827499 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1433.391545396495, + 118.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1433.391545396495, + 115.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1433.391545396495, + 112.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1433.391545396495, + 109.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1433.391545396495, + 106.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1433.391545396495, + 103.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1433.391545396495, + 100.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1433.391545396495, + 97.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1433.391545396495, + 94.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1433.391545396495, + 91.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1433.391545396495, + 88.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1433.391545396495, + 85.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1433.391545396495, + 82.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1433.391545396495, + 79.4181762029763, + 0.2844577131827499 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1433.391545396495, + 79.4181762029763, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1434.891545396495, + 76.82009999162298, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1436.391545396495, + 74.22202378026967, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1437.891545396495, + 71.62394756891635, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1439.391545396495, + 69.02587135756303, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1440.891545396495, + 66.42779514620972, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1442.391545396495, + 63.8297189348564, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1443.891545396495, + 61.231642723503086, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1445.391545396495, + 58.63356651214977, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1446.891545396495, + 56.035490300796454, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1448.391545396495, + 53.43741408944314, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1449.891545396495, + 50.83933787808982, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1451.391545396495, + 48.241261666736506, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1452.891545396495, + 45.64318545538319, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1454.391545396495, + 43.045109244029874, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1455.891545396495, + 40.44703303267656, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1457.391545396495, + 37.84895682132324, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1458.891545396495, + 35.250880609969926, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1460.391545396495, + 32.65280439861661, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1461.891545396495, + 30.054728187263294, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1463.391545396495, + 27.456651975909978, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1464.891545396495, + 24.85857576455666, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1466.391545396495, + 22.260499553203346, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1467.891545396495, + 19.66242334185003, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1469.391545396495, + 17.064347130496714, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1470.891545396495, + 14.466270919143398, + 0.2844577131827499 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1470.891545396495, + 14.466270919143398, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1473.4896216078484, + 12.966270919143398, + 0.2844577131827499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1476.0876978192018, + 11.466270919143398, + 0.2844577131827499 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-44-4_532670688/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-44-4_532670688/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fd2bfe5b2e1d9e2499ba418fd958124b8e2dff2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-44-4_532670688/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 336.0944967999381, + 291.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 338.6925730112914, + 290.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 341.29064922264473, + 288.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 343.88872543399805, + 287.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 346.48680164535136, + 285.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 349.0848778567047, + 284.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 351.682954068058, + 282.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 354.2810302794113, + 281.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 356.8791064907646, + 279.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 359.47718270211794, + 278.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 362.07525891347126, + 276.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 364.6733351248246, + 275.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 367.2714113361779, + 273.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 369.8694875475312, + 272.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 372.4675637588845, + 270.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 375.06563997023784, + 269.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 377.66371618159116, + 267.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 380.26179239294447, + 266.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 382.8598686042978, + 264.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 385.4579448156511, + 263.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 388.0560210270044, + 261.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 390.65409723835774, + 260.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 393.25217344971105, + 258.801949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 395.85024966106437, + 257.301949259132, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 398.4483258724177, + 255.80194925913202, + -4.9767827042799935 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 398.4483258724177, + 255.80194925913202, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 399.9483258724177, + 253.2038730477787, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 401.4483258724177, + 250.60579683642538, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 402.9483258724177, + 248.00772062507207, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 404.4483258724177, + 245.40964441371875, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 405.9483258724177, + 242.81156820236544, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 407.4483258724177, + 240.21349199101212, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 408.9483258724177, + 237.6154157796588, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 410.4483258724177, + 235.0173395683055, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 411.9483258724177, + 232.41926335695217, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 413.4483258724177, + 229.82118714559886, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 414.9483258724177, + 227.22311093424554, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 416.4483258724177, + 224.62503472289222, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 417.9483258724177, + 222.0269585115389, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 419.4483258724177, + 219.4288823001856, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 420.9483258724177, + 216.83080608883228, + -4.9767827042799935 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 420.9483258724177, + 216.83080608883228, + -4.9767827042799935 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 420.9483258724177, + 216.83080608883228, + -4.9767827042799935 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 420.9483258724177, + 216.83080608883228, + -4.9767827042799935 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 420.9483258724177, + 216.83080608883228, + -4.9767827042799935 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 420.9483258724177, + 216.83080608883228, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 422.4483258724177, + 219.4288823001856, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 423.9483258724177, + 222.0269585115389, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 425.4483258724177, + 224.62503472289222, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 426.9483258724177, + 227.22311093424554, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 428.4483258724177, + 229.82118714559886, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 429.9483258724177, + 232.41926335695217, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 431.4483258724177, + 235.0173395683055, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 432.9483258724177, + 237.6154157796588, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 434.4483258724177, + 240.21349199101212, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 435.9483258724177, + 242.81156820236544, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 437.4483258724177, + 245.40964441371875, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 438.9483258724177, + 248.00772062507207, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 440.4483258724177, + 250.60579683642538, + -4.9767827042799935 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 440.4483258724177, + 250.60579683642538, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 443.046402083771, + 252.10579683642538, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 445.6444782951243, + 253.60579683642538, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 448.24255450647763, + 255.10579683642538, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 450.84063071783095, + 256.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 453.43870692918426, + 258.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 456.0367831405376, + 259.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 458.6348593518909, + 261.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 461.2329355632442, + 262.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 463.8310117745975, + 264.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 466.42908798595084, + 265.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 469.02716419730416, + 267.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 471.6252404086575, + 268.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 474.2233166200108, + 270.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 476.8213928313641, + 271.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 479.4194690427174, + 273.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 482.01754525407074, + 274.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 484.61562146542406, + 276.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 487.2136976767774, + 277.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 489.8117738881307, + 279.1057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 492.409850099484, + 280.6057968364254, + -4.9767827042799935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 495.0079263108373, + 282.1057968364254, + -4.9767827042799935 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-45-18_492067917/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-45-18_492067917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c4ff2117f637a4fe85e712acfd8dcb9f382cf33 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-45-18_492067917/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 331.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 328.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 325.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 322.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 319.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 316.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 313.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 307.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 301.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 289.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 286.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 283.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 280.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 277.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 277.8718598650593, + -221.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 275.273783653706, + -220.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 272.6757074423527, + -218.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 270.0776312309994, + -217.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 267.47955501964606, + -215.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 264.88147880829274, + -214.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 262.2834025969394, + -212.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 259.6853263855861, + -211.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 257.0872501742328, + -209.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 254.48917396287948, + -208.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 251.89109775152616, + -206.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 249.29302154017284, + -205.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 246.69494532881953, + -203.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 244.0968691174662, + -202.2153201289264, + -3.9492544853527116 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 244.0968691174662, + -202.2153201289264, + -3.9492544853527116 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 244.0968691174662, + -202.2153201289264, + -3.9492544853527116 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 244.0968691174662, + -202.2153201289264, + -3.9492544853527116 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 244.0968691174662, + -202.2153201289264, + -3.9492544853527116 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 244.0968691174662, + -202.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 246.69494532881953, + -200.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 249.29302154017284, + -199.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 251.89109775152616, + -197.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 254.48917396287948, + -196.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 257.0872501742328, + -194.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 259.6853263855861, + -193.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 262.2834025969394, + -191.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 264.88147880829274, + -190.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 267.47955501964606, + -188.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 270.0776312309994, + -187.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 272.6757074423527, + -185.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 275.273783653706, + -184.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 277.8718598650593, + -182.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 280.46993607641264, + -181.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 283.06801228776595, + -179.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 285.66608849911927, + -178.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 288.2641647104726, + -176.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 290.8622409218259, + -175.2153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 293.4603171331792, + -173.7153201289264, + -3.9492544853527116 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 293.4603171331792, + -173.7153201289264, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 294.9603171331792, + -171.1172439175731, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 296.4603171331792, + -168.51916770621978, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 297.9603171331792, + -165.92109149486646, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 299.4603171331792, + -163.32301528351314, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 300.9603171331792, + -160.72493907215983, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 302.4603171331792, + -158.1268628608065, + -3.9492544853527116 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 302.4603171331792, + -158.1268628608065, + -3.9492544853527116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 302.4603171331792, + -155.1268628608065, + -3.9492544853527116 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-45-53_1504569917/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-45-53_1504569917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca3ac6c34868eb6b7d5042a5096fc0d1db196a0b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-45-53_1504569917/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 516.5573701531171, + -249.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 516.5573701531171, + -252.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 516.5573701531171, + -255.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 516.5573701531171, + -258.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 516.5573701531171, + -261.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 516.5573701531171, + -264.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 516.5573701531171, + -267.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 516.5573701531171, + -270.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 516.5573701531171, + -273.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 516.5573701531171, + -276.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 516.5573701531171, + -279.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 516.5573701531171, + -282.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 516.5573701531171, + -285.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 516.5573701531171, + -288.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 516.5573701531171, + -291.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 516.5573701531171, + -294.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 516.5573701531171, + -297.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 516.5573701531171, + -300.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 516.5573701531171, + -303.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 516.5573701531171, + -306.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 516.5573701531171, + -309.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 516.5573701531171, + -312.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 516.5573701531171, + -315.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 516.5573701531171, + -318.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 516.5573701531171, + -321.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 516.5573701531171, + -324.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 516.5573701531171, + -327.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 516.5573701531171, + -330.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 516.5573701531171, + -333.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 516.5573701531171, + -336.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 516.5573701531171, + -339.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 516.5573701531171, + -342.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 516.5573701531171, + -345.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 516.5573701531171, + -348.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 516.5573701531171, + -351.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 516.5573701531171, + -354.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 516.5573701531171, + -357.82461233688514, + 4.885891273572145 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 516.5573701531171, + -357.82461233688514, + 4.885891273572145 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 516.5573701531171, + -357.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 513.9592939417637, + -359.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 511.3612177304104, + -360.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 508.76314151905706, + -362.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 506.16506530770374, + -363.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 503.5669890963504, + -365.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 500.9689128849971, + -366.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 498.3708366736438, + -368.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 495.7727604622905, + -369.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 493.17468425093716, + -371.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 490.57660803958385, + -372.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 487.97853182823053, + -374.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 485.3804556168772, + -375.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 482.7823794055239, + -377.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 480.1843031941706, + -378.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 477.58622698281727, + -380.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 474.98815077146395, + -381.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 472.39007456011063, + -383.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 469.7919983487573, + -384.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 467.193922137404, + -386.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 464.5958459260507, + -387.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 461.99776971469737, + -389.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 459.39969350334405, + -390.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 456.80161729199074, + -392.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 454.2035410806374, + -393.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 451.6054648692841, + -395.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 449.0073886579308, + -396.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 446.4093124465775, + -398.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 443.81123623522416, + -399.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 441.21316002387084, + -401.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 438.6150838125175, + -402.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 436.0170076011642, + -404.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 433.4189313898109, + -405.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 430.8208551784576, + -407.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 428.22277896710426, + -408.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 425.62470275575095, + -410.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 423.02662654439763, + -411.82461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 420.4285503330443, + -413.32461233688514, + 4.885891273572145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 417.830474121691, + -414.82461233688514, + 4.885891273572145 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-47-4_706043324/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-47-4_706043324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c24f503d1eb33a27c73775dcd9baf7961cb7100 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-47-4_706043324/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -17.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -20.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -23.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -26.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -29.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -32.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -35.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -38.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -41.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -44.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -47.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -50.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -53.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -56.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -59.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -62.650726673070466, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -65.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -68.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -71.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -74.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -77.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -80.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -83.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -86.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -89.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -92.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -95.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -98.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -101.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -104.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -107.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -110.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -113.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -116.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -119.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -119.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -119.65072667307047, + -102.61347031981668, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -121.15072667307047, + -105.21154653117, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -122.65072667307047, + -107.80962274252332, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -124.15072667307047, + -110.40769895387663, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -125.65072667307047, + -113.00577516522995, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -127.15072667307047, + -115.60385137658326, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -128.65072667307047, + -118.20192758793658, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -130.15072667307047, + -120.8000037992899, + 2.4363802055690487 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -130.15072667307047, + -120.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -130.15072667307047, + -123.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -130.15072667307047, + -126.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -130.15072667307047, + -129.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -130.15072667307047, + -132.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -130.15072667307047, + -135.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -130.15072667307047, + -138.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -130.15072667307047, + -141.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -130.15072667307047, + -144.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -130.15072667307047, + -147.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -130.15072667307047, + -150.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -130.15072667307047, + -153.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -130.15072667307047, + -156.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -130.15072667307047, + -159.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -130.15072667307047, + -162.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -130.15072667307047, + -165.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -130.15072667307047, + -168.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -130.15072667307047, + -171.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -130.15072667307047, + -174.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -130.15072667307047, + -177.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -130.15072667307047, + -180.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -130.15072667307047, + -183.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -130.15072667307047, + -186.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -130.15072667307047, + -189.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -130.15072667307047, + -192.8000037992899, + 2.4363802055690487 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -130.15072667307047, + -192.8000037992899, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -131.65072667307047, + -195.3980800106432, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -133.15072667307047, + -197.99615622199653, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -134.65072667307047, + -200.59423243334984, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -136.15072667307047, + -203.19230864470316, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -137.65072667307047, + -205.79038485605648, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -139.15072667307047, + -208.3884610674098, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -140.65072667307047, + -210.9865372787631, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -142.15072667307047, + -213.58461349011642, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -143.65072667307047, + -216.18268970146974, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -145.15072667307047, + -218.78076591282306, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -146.65072667307047, + -221.37884212417637, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -148.15072667307047, + -223.9769183355297, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -149.65072667307047, + -226.574994546883, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -151.15072667307047, + -229.17307075823632, + 2.4363802055690487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -152.65072667307047, + -231.77114696958964, + 2.4363802055690487 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-5-17_378409503/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-5-17_378409503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf25e8e304f097876ec341eba3c1c9188749270d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-5-17_378409503/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 958.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 955.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 952.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 949.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 946.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 943.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 940.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 937.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 934.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 931.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 928.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 925.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 922.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 919.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 916.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 913.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 910.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 907.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 904.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 901.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 901.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 901.2223703085846, + -256.6895576176842, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 899.7223703085846, + -259.28763382903753, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 898.2223703085846, + -261.88571004039085, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 896.7223703085846, + -264.48378625174416, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 895.2223703085846, + -267.0818624630975, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 893.7223703085846, + -269.6799386744508, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 892.2223703085846, + -272.2780148858041, + 1.649797261390722 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 892.2223703085846, + -272.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 892.2223703085846, + -275.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 892.2223703085846, + -278.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 892.2223703085846, + -281.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 892.2223703085846, + -284.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 892.2223703085846, + -287.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 892.2223703085846, + -290.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 892.2223703085846, + -293.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 892.2223703085846, + -296.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 892.2223703085846, + -299.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 892.2223703085846, + -302.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 892.2223703085846, + -305.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 892.2223703085846, + -308.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 892.2223703085846, + -311.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 892.2223703085846, + -314.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 892.2223703085846, + -317.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 892.2223703085846, + -320.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 892.2223703085846, + -323.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 892.2223703085846, + -326.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 892.2223703085846, + -329.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 892.2223703085846, + -332.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 892.2223703085846, + -335.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 892.2223703085846, + -338.2780148858041, + 1.649797261390722 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 892.2223703085846, + -338.2780148858041, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 890.7223703085846, + -340.8760910971574, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 889.2223703085846, + -343.47416730851074, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 887.7223703085846, + -346.07224351986406, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 886.2223703085846, + -348.6703197312174, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 884.7223703085846, + -351.2683959425707, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 883.2223703085846, + -353.866472153924, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 881.7223703085846, + -356.4645483652773, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 880.2223703085846, + -359.06262457663064, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 878.7223703085846, + -361.66070078798396, + 1.649797261390722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 877.2223703085846, + -364.2587769993373, + 1.649797261390722 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-5-46_515530019/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-5-46_515530019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebbe625f3e0e404901b44ac56e3881bbd66273cf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-5-46_515530019/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1382.4091615114291, + 12.784540279377751, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1382.4091615114291, + 9.784540279377751, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1382.4091615114291, + 6.784540279377751, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1382.4091615114291, + 3.784540279377751, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1382.4091615114291, + 0.784540279377751, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1382.4091615114291, + -2.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1382.4091615114291, + -5.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1382.4091615114291, + -8.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1382.4091615114291, + -11.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1382.4091615114291, + -14.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1382.4091615114291, + -17.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1382.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1382.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1382.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1382.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1382.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1385.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1388.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1391.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1394.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1397.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1400.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1403.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1406.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1409.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1412.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1415.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1418.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1418.4091615114291, + -20.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1421.0072377227825, + -18.71545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1423.605313934136, + -17.21545972062225, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1426.2033901454893, + -15.715459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1428.8014663568426, + -14.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1431.399542568196, + -12.715459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1433.9976187795494, + -11.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1436.5956949909028, + -9.715459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1439.1937712022561, + -8.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1441.7918474136095, + -6.715459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1444.3899236249629, + -5.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1446.9879998363162, + -3.715459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1449.5860760476696, + -2.215459720622249, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1452.184152259023, + -0.7154597206222493, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1454.7822284703764, + 0.7845402793777505, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1457.3803046817297, + 2.28454027937775, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1459.978380893083, + 3.78454027937775, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1462.5764571044365, + 5.28454027937775, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1465.1745333157899, + 6.78454027937775, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1467.7726095271432, + 8.28454027937775, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982892 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1470.3706857384966, + 9.78454027937775, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1472.96876194985, + 11.28454027937775, + -0.8014601093463103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1475.5668381612033, + 12.78454027937775, + -0.8014601093463103 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-51-5_2086206725/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-51-5_2086206725/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81bcc41db1b7bfa56125518efc97a8aab8d0cddd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-51-5_2086206725/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 88.83154691250331, + -193.335580418501, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 91.83154691250331, + -193.335580418501, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 94.83154691250331, + -193.335580418501, + -2.3067975458328016 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.83154691250331, + -193.335580418501, + -2.3067975458328016 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 94.83154691250331, + -193.335580418501, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 96.33154691250331, + -195.9336566298543, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 97.83154691250331, + -198.53173284120763, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 99.33154691250331, + -201.12980905256094, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 100.83154691250331, + -203.72788526391426, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.33154691250331, + -206.32596147526758, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 103.83154691250331, + -208.9240376866209, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 105.33154691250331, + -211.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 106.83154691250331, + -214.12019010932752, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.33154691250331, + -216.71826632068084, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 109.83154691250331, + -219.31634253203416, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 111.33154691250331, + -221.91441874338747, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 112.83154691250331, + -224.5124949547408, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 114.33154691250331, + -227.1105711660941, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 115.83154691250331, + -229.70864737744742, + -2.3067975458328016 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 115.83154691250331, + -229.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 118.42962312385663, + -231.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 121.02769933520995, + -232.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 123.62577554656326, + -234.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 126.22385175791658, + -235.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 128.8219279692699, + -237.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 131.4200041806232, + -238.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 134.01808039197653, + -240.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 136.61615660332984, + -241.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 139.21423281468316, + -243.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 141.81230902603647, + -244.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 144.4103852373898, + -246.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 147.0084614487431, + -247.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 149.60653766009642, + -249.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 152.20461387144974, + -250.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 154.80269008280305, + -252.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 157.40076629415637, + -253.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 159.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 159.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 159.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 162.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 165.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 168.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 171.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 171.99884250550969, + -255.20864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 174.596918716863, + -253.70864737744742, + -2.3067975458328016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 174.596918716863, + -253.70864737744742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 176.096918716863, + -251.1105711660941, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 177.596918716863, + -248.5124949547408, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 179.096918716863, + -245.91441874338747, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 180.596918716863, + -243.31634253203416, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 182.096918716863, + -240.71826632068084, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 183.596918716863, + -238.12019010932752, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 185.096918716863, + -235.5221138979742, + -2.3067975458328016 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 185.096918716863, + -235.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 187.69499492821632, + -234.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 190.29307113956963, + -232.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 192.89114735092295, + -231.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 195.48922356227627, + -229.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 198.08729977362958, + -228.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 200.6853759849829, + -226.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 203.2834521963362, + -225.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 205.88152840768953, + -223.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 208.47960461904285, + -222.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 211.07768083039616, + -220.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 213.67575704174948, + -219.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 216.2738332531028, + -217.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 218.8719094644561, + -216.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 221.46998567580943, + -214.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 224.06806188716274, + -213.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 226.66613809851606, + -211.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 229.26421430986937, + -210.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 231.8622905212227, + -208.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 234.460366732576, + -207.0221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 237.05844294392932, + -205.5221138979742, + -2.3067975458328016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 239.65651915528264, + -204.0221138979742, + -2.3067975458328016 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-53-48_243268139/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-53-48_243268139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dda1a21b46c54e6e7a5986654fc321085476f02a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-53-48_243268139/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4.274997721069759, + -642.3025499536932, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2.7749977210697603, + -644.9006261650466, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1.274997721069761, + -647.4987023763999, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -0.2250022789302384, + -650.0967785877533, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1.7250022789302377, + -652.6948547991067, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -3.225002278930237, + -655.29293101046, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -4.725002278930236, + -657.8910072218134, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -6.225002278930235, + -660.4890834331668, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -7.725002278930234, + -663.0871596445202, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -9.225002278930234, + -665.6852358558735, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -10.725002278930234, + -668.2833120672269, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -12.225002278930234, + -670.8813882785803, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -13.725002278930234, + -673.4794644899337, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -15.225002278930234, + -676.077540701287, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -16.725002278930234, + -678.6756169126404, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.225002278930234, + -681.2736931239938, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -19.725002278930234, + -683.8717693353472, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -21.225002278930234, + -686.4698455467005, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -22.725002278930234, + -689.0679217580539, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -24.225002278930234, + -691.6659979694073, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -25.725002278930234, + -694.2640741807606, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -27.225002278930234, + -696.862150392114, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -28.725002278930234, + -699.4602266034674, + -3.0635521871827622 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -28.725002278930234, + -699.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -28.725002278930234, + -702.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.725002278930234, + -705.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -28.725002278930234, + -708.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -28.725002278930234, + -711.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -28.725002278930234, + -714.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -28.725002278930234, + -717.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -28.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -28.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -28.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -28.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -28.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -25.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -22.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -19.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -16.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -13.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -10.725002278930234, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -7.7250022789302335, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -4.7250022789302335, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1.7250022789302335, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1.2749977210697665, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4.2749977210697665, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 7.2749977210697665, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 10.274997721069766, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 13.274997721069766, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 16.274997721069766, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 19.274997721069766, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 22.274997721069766, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 22.274997721069766, + -720.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 24.873073932423083, + -718.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 27.4711501437764, + -717.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 30.069226355129715, + -715.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 32.66730256648303, + -714.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 35.26537877783635, + -712.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 37.86345498918966, + -711.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 40.46153120054298, + -709.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 43.059607411896295, + -708.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 45.65768362324961, + -706.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 48.25575983460293, + -705.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 50.85383604595624, + -703.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 53.45191225730956, + -702.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 56.049988468662875, + -700.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 58.64806468001619, + -699.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 61.24614089136951, + -697.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 63.84421710272282, + -696.4602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 66.44229331407614, + -694.9602266034674, + -3.0635521871827622 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 66.44229331407614, + -694.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 69.44229331407614, + -694.9602266034674, + -3.0635521871827622 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 72.44229331407614, + -694.9602266034674, + -3.0635521871827622 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-53-9_1544617505/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-53-9_1544617505/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ac16fb7b3de30bdb277252258b271c89ab6dd04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-53-9_1544617505/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 419.2711597500641, + 97.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 419.2711597500641, + 100.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 419.2711597500641, + 103.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 419.2711597500641, + 106.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 419.2711597500641, + 109.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 419.2711597500641, + 112.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 419.2711597500641, + 115.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.2711597500641, + 118.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 419.2711597500641, + 121.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 419.2711597500641, + 124.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 419.2711597500641, + 127.43266356519727, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.2711597500641, + 130.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 419.2711597500641, + 133.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 419.2711597500641, + 136.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 419.2711597500641, + 139.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 419.2711597500641, + 142.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 419.2711597500641, + 145.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 419.2711597500641, + 148.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 419.2711597500641, + 151.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 419.2711597500641, + 154.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 419.2711597500641, + 157.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 419.2711597500641, + 160.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 419.2711597500641, + 163.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 419.2711597500641, + 166.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 419.2711597500641, + 169.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 419.2711597500641, + 172.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 419.2711597500641, + 175.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 419.2711597500641, + 178.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 419.2711597500641, + 181.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 419.2711597500641, + 184.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 419.2711597500641, + 187.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 419.2711597500641, + 190.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 419.2711597500641, + 193.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 419.2711597500641, + 196.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 419.2711597500641, + 199.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 419.2711597500641, + 202.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 419.2711597500641, + 205.4326635651973, + -0.9338733368920584 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 419.2711597500641, + 205.4326635651973, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 420.7711597500641, + 208.0307397765506, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 422.2711597500641, + 210.62881598790392, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 423.7711597500641, + 213.22689219925724, + -0.9338733368920584 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 423.7711597500641, + 213.22689219925724, + -0.9338733368920584 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 423.7711597500641, + 213.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 426.3692359614174, + 214.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 428.96731217277073, + 216.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 431.56538838412405, + 217.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 434.16346459547736, + 219.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 436.7615408068307, + 220.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 439.359617018184, + 222.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 441.9576932295373, + 223.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 444.55576944089063, + 225.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 447.15384565224394, + 226.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 449.75192186359726, + 228.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 452.3499980749506, + 229.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 454.9480742863039, + 231.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 457.5461504976572, + 232.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 460.1442267090105, + 234.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 462.74230292036384, + 235.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 465.34037913171716, + 237.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 467.9384553430705, + 238.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 470.5365315544238, + 240.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 473.1346077657771, + 241.72689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 475.7326839771304, + 243.22689219925724, + -0.9338733368920584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 475.7326839771304, + 243.22689219925724, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 477.2326839771304, + 245.82496841061055, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 478.7326839771304, + 248.42304462196387, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 480.2326839771304, + 251.02112083331718, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 481.7326839771304, + 253.6191970446705, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 483.2326839771304, + 256.2172732560238, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 484.7326839771304, + 258.81534946737713, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 486.2326839771304, + 261.41342567873045, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 487.7326839771304, + 264.01150189008376, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 489.2326839771304, + 266.6095781014371, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 490.7326839771304, + 269.2076543127904, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 492.2326839771304, + 271.8057305241437, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 493.7326839771304, + 274.403806735497, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 495.2326839771304, + 277.00188294685034, + -0.9338733368920584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 496.7326839771304, + 279.59995915820366, + -0.9338733368920584 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-54-21_1012502954/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-54-21_1012502954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b762fcb14c7061902d84ab5e1d3e8fae8422d827 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-54-21_1012502954/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 511.68947200818485, + 380.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 511.68947200818485, + 377.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 511.68947200818485, + 374.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 511.68947200818485, + 371.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 511.68947200818485, + 368.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 511.68947200818485, + 365.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 511.68947200818485, + 362.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 511.68947200818485, + 359.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 511.68947200818485, + 356.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 511.68947200818485, + 353.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 511.68947200818485, + 350.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 511.68947200818485, + 347.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 511.68947200818485, + 344.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 511.68947200818485, + 341.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 511.68947200818485, + 338.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 511.68947200818485, + 335.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 511.68947200818485, + 332.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 511.68947200818485, + 329.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 511.68947200818485, + 326.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 511.68947200818485, + 323.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 511.68947200818485, + 320.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 511.68947200818485, + 317.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 511.68947200818485, + 314.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 511.68947200818485, + 311.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 511.68947200818485, + 308.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 511.68947200818485, + 305.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 511.68947200818485, + 302.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 511.68947200818485, + 299.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 511.68947200818485, + 296.06650345484536, + -0.9515600981175671 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 511.68947200818485, + 296.06650345484536, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 510.18947200818485, + 293.46842724349204, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 508.68947200818485, + 290.87035103213873, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 507.18947200818485, + 288.2722748207854, + -0.9515600981175671 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 507.18947200818485, + 288.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 504.59139579683153, + 286.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 501.9933195854782, + 285.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 499.3952433741249, + 283.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 496.7971671627716, + 282.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 494.19909095141827, + 280.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 491.60101474006495, + 279.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 489.00293852871164, + 277.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 486.4048623173583, + 276.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 483.806786106005, + 274.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 481.2087098946517, + 273.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 478.6106336832984, + 271.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 476.01255747194506, + 270.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 473.41448126059174, + 268.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 470.8164050492384, + 267.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 468.2183288378851, + 265.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 465.6202526265318, + 264.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 463.0221764151785, + 262.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 460.42410020382516, + 261.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 457.82602399247185, + 259.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 455.22794778111853, + 258.2722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 452.6298715697652, + 256.7722748207854, + -0.9515600981175671 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 452.6298715697652, + 256.7722748207854, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 451.1298715697652, + 254.1741986094321, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 449.6298715697652, + 251.57612239807878, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 448.1298715697652, + 248.97804618672546, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 446.6298715697652, + 246.37996997537215, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 445.1298715697652, + 243.78189376401883, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 443.6298715697652, + 241.18381755266552, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 442.1298715697652, + 238.5857413413122, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 440.6298715697652, + 235.98766512995888, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 439.1298715697652, + 233.38958891860557, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 437.6298715697652, + 230.79151270725225, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 436.1298715697652, + 228.19343649589894, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 434.6298715697652, + 225.59536028454562, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 433.1298715697652, + 222.9972840731923, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 431.6298715697652, + 220.399207861839, + -0.9515600981175671 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 431.6298715697652, + 220.399207861839, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 429.0317953584119, + 218.899207861839, + -0.9515600981175671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 426.4337191470586, + 217.399207861839, + -0.9515600981175671 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-54-55_1272469786/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-54-55_1272469786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..229a526662ef4f871d649632a9cff4b048c3654a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-54-55_1272469786/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 201.7972231715563, + 34.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 199.199146960203, + 36.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 196.60107074884968, + 37.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 194.00299453749636, + 39.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 191.40491832614305, + 40.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 188.80684211478973, + 42.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 186.20876590343642, + 43.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 183.6106896920831, + 45.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 181.01261348072978, + 46.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 178.41453726937647, + 48.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 175.81646105802315, + 49.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 173.21838484666984, + 51.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 170.62030863531652, + 52.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 168.0222324239632, + 54.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 165.4241562126099, + 55.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 162.82608000125657, + 57.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 160.22800378990325, + 58.80859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 157.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 157.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 154.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 151.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 148.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 145.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 142.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 139.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 136.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 133.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 130.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 127.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 124.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 121.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 118.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 115.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 115.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 115.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 115.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 115.62992757854994, + 60.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 115.62992757854994, + 63.30859829666779, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 115.62992757854994, + 66.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 115.62992757854994, + 69.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 115.62992757854994, + 72.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 115.62992757854994, + 75.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 115.62992757854994, + 78.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 115.62992757854994, + 81.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 115.62992757854994, + 84.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 115.62992757854994, + 87.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 115.62992757854994, + 90.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 115.62992757854994, + 93.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 115.62992757854994, + 96.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 115.62992757854994, + 99.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 115.62992757854994, + 102.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 115.62992757854994, + 105.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 115.62992757854994, + 108.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 115.62992757854994, + 111.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 115.62992757854994, + 114.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 115.62992757854994, + 117.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 115.62992757854994, + 120.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 115.62992757854994, + 123.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 115.62992757854994, + 126.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 115.62992757854994, + 129.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 115.62992757854994, + 132.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 115.62992757854994, + 135.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 115.62992757854994, + 138.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 115.62992757854994, + 141.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 115.62992757854994, + 144.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 115.62992757854994, + 147.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 115.62992757854994, + 150.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 115.62992757854994, + 153.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 115.62992757854994, + 156.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 115.62992757854994, + 159.30859829666778, + -3.0457484834729165 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 115.62992757854994, + 159.30859829666778, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 114.12992757854994, + 161.9066745080211, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 112.62992757854994, + 164.5047507193744, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 111.12992757854994, + 167.10282693072773, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.62992757854994, + 169.70090314208105, + -3.0457484834729165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 108.12992757854994, + 172.29897935343436, + -3.0457484834729165 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-57-52_933110197/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-57-52_933110197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..089f83bcf6b294fb3608cb46d30b70d7f3dac3d5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-57-52_933110197/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1447.4512388861647, + 60.75491295333228, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1448.9512388861647, + 58.156836741978964, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1450.4512388861647, + 55.55876053062565, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1451.9512388861647, + 52.96068431927233, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1453.4512388861647, + 50.362608107919016, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1454.9512388861647, + 47.7645318965657, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1456.4512388861647, + 45.166455685212384, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1457.9512388861647, + 42.56837947385907, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1459.4512388861647, + 39.97030326250575, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1460.9512388861647, + 37.372227051152436, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1462.4512388861647, + 34.77415083979912, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1463.9512388861647, + 32.176074628445804, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1465.4512388861647, + 29.577998417092488, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1466.9512388861647, + 26.97992220573917, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1468.4512388861647, + 24.381845994385856, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1469.9512388861647, + 21.78376978303254, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1471.4512388861647, + 19.185693571679224, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1472.9512388861647, + 16.587617360325908, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1474.4512388861647, + 13.989541148972592, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1475.9512388861647, + 11.391464937619276, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1477.4512388861647, + 8.79338872626596, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1478.9512388861647, + 6.195312514912644, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1480.4512388861647, + 3.5972363035593276, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1481.9512388861647, + 0.9991600922060115, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1483.4512388861647, + -1.5989161191473045, + -2.140407508558591 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1483.4512388861647, + -1.5989161191473045, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1486.049315097518, + -3.0989161191473045, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1488.6473913088714, + -4.5989161191473045, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1491.2454675202248, + -6.0989161191473045, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1493.8435437315782, + -7.5989161191473045, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1496.4416199429315, + -9.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1499.039696154285, + -10.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1501.6377723656383, + -12.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1504.2358485769917, + -13.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1506.833924788345, + -15.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1509.4320009996984, + -16.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1512.0300772110518, + -18.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1514.6281534224051, + -19.598916119147304, + -2.140407508558591 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1514.6281534224051, + -19.598916119147304, + -2.140407508558591 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1514.6281534224051, + -19.598916119147304, + -2.140407508558591 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1514.6281534224051, + -19.598916119147304, + -2.140407508558591 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1514.6281534224051, + -19.598916119147304, + -2.140407508558591 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1514.6281534224051, + -19.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1512.0300772110518, + -21.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1509.4320009996984, + -22.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1506.833924788345, + -24.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1504.2358485769917, + -25.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1501.6377723656383, + -27.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1499.039696154285, + -28.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1496.4416199429315, + -30.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1493.8435437315782, + -31.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1491.2454675202248, + -33.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1488.6473913088714, + -34.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1486.049315097518, + -36.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1483.4512388861647, + -37.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1480.8531626748113, + -39.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1478.255086463458, + -40.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1475.6570102521046, + -42.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1473.0589340407512, + -43.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1470.4608578293978, + -45.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1467.8627816180444, + -46.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1465.264705406691, + -48.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1462.6666291953377, + -49.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1460.0685529839843, + -51.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1457.470476772631, + -52.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1454.8724005612776, + -54.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1452.2743243499242, + -55.598916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1449.6762481385708, + -57.098916119147304, + -2.140407508558591 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1449.6762481385708, + -57.098916119147304, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1448.1762481385708, + -59.69699233050062, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1446.6762481385708, + -62.29506854185394, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1445.1762481385708, + -64.89314475320725, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1443.6762481385708, + -67.49122096456057, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1442.1762481385708, + -70.08929717591388, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1440.6762481385708, + -72.6873733872672, + -2.140407508558591 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1439.1762481385708, + -75.28544959862052, + -2.140407508558591 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-59-17_740759355/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-59-17_740759355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86333583bba5052b359bad7a7c576c35a6fb0327 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-59-17_740759355/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1009.7174921552568, + 57.287198191946885, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1009.7174921552568, + 60.287198191946885, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1009.7174921552568, + 63.287198191946885, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1009.7174921552568, + 66.28719819194689, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1009.7174921552568, + 69.28719819194689, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1009.7174921552568, + 72.28719819194689, + -0.4687744940234655 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1009.7174921552568, + 72.28719819194689, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1008.2174921552568, + 74.8852744033002, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1006.7174921552568, + 77.48335061465352, + -0.4687744940234655 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1006.7174921552568, + 77.48335061465352, + -0.4687744940234655 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1006.7174921552568, + 77.48335061465352, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1008.2174921552568, + 80.08142682600683, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1009.7174921552568, + 82.67950303736015, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1011.2174921552568, + 85.27757924871347, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1012.7174921552568, + 87.87565546006678, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1014.2174921552568, + 90.4737316714201, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1015.7174921552568, + 93.07180788277341, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1017.2174921552568, + 95.66988409412673, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1018.7174921552568, + 98.26796030548005, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1020.2174921552568, + 100.86603651683336, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1021.7174921552568, + 103.46411272818668, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1023.2174921552568, + 106.06218893954, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1024.7174921552569, + 108.66026515089331, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196565 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1026.2174921552569, + 111.25834136224663, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1027.7174921552569, + 113.85641757359994, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1029.2174921552569, + 116.45449378495326, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1030.7174921552569, + 119.05256999630657, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1032.2174921552569, + 121.65064620765989, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1033.7174921552569, + 124.2487224190132, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1035.2174921552569, + 126.84679863036652, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1036.7174921552569, + 129.44487484171984, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1038.2174921552569, + 132.04295105307315, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1039.7174921552569, + 134.64102726442647, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1041.2174921552569, + 137.23910347577979, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1042.7174921552569, + 139.8371796871331, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1044.2174921552569, + 142.43525589848642, + -0.4687744940234655 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1044.2174921552569, + 142.43525589848642, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1044.2174921552569, + 145.43525589848642, + -0.4687744940234655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1044.2174921552569, + 148.43525589848642, + -0.4687744940234655 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-6-13_1713258270/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-6-13_1713258270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96a5a9b14990bb7e843312d869844456dd008b40 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-6-13_1713258270/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -132.74613111806073, + -727.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -132.74613111806073, + -724.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -132.74613111806073, + -721.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -132.74613111806073, + -718.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -132.74613111806073, + -715.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -132.74613111806073, + -712.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -132.74613111806073, + -709.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -132.74613111806073, + -706.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -132.74613111806073, + -703.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -132.74613111806073, + -700.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -132.74613111806073, + -697.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -132.74613111806073, + -694.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -132.74613111806073, + -691.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -132.74613111806073, + -688.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -132.74613111806073, + -685.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -132.74613111806073, + -682.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -132.74613111806073, + -679.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -132.74613111806073, + -676.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -132.74613111806073, + -673.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -132.74613111806073, + -670.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -132.74613111806073, + -667.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -132.74613111806073, + -664.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -132.74613111806073, + -661.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -132.74613111806073, + -658.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -132.74613111806073, + -655.6398415963736, + -0.40895184882759583 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -132.74613111806073, + -655.6398415963736, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -131.24613111806073, + -653.0417653850202, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -129.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -129.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -129.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -129.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -126.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -123.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -120.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -117.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -117.74613111806073, + -650.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -115.14805490670742, + -648.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -112.5499786953541, + -647.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -109.95190248400078, + -645.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -107.35382627264747, + -644.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -104.75575006129415, + -642.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -102.15767384994083, + -641.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -99.55959763858752, + -639.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -96.9615214272342, + -638.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -94.36344521588089, + -636.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -91.76536900452757, + -635.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -89.16729279317425, + -633.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -86.56921658182094, + -632.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -83.97114037046762, + -630.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -81.3730641591143, + -629.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -78.77498794776099, + -627.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -76.17691173640767, + -626.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -73.57883552505436, + -624.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -70.98075931370104, + -623.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -68.38268310234773, + -621.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -65.78460689099441, + -620.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -63.186530679641095, + -618.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -60.58845446828778, + -617.4436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -57.99037825693446, + -615.9436891736668, + -0.40895184882759583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -55.39230204558115, + -614.4436891736668, + -0.40895184882759583 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-8-58_1631518149/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-8-58_1631518149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec5000080c024f2e87c0f8d83da8a3097228400e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_20-8-58_1631518149/pose.jsonl @@ -0,0 +1,1146 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 51.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 54.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 57.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 60.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 63.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 66.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 69.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 72.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 75.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 78.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 81.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 84.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 87.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 90.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 93.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 96.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 99.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 102.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 105.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 108.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 111.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 114.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 117.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 120.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 123.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 126.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 129.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 132.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 132.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 132.6227541305514, + 99.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 134.1227541305514, + 96.62880286664344, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 135.6227541305514, + 94.03072665529012, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 137.1227541305514, + 91.43265044393681, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 138.6227541305514, + 88.83457423258349, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 140.1227541305514, + 86.23649802123018, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 141.6227541305514, + 83.63842180987686, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 143.1227541305514, + 81.04034559852354, + 4.635177013074603 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 143.1227541305514, + 81.04034559852354, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 145.72083034190473, + 79.54034559852354, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 148.31890655325805, + 78.04034559852354, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 150.91698276461136, + 76.54034559852354, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 153.51505897596468, + 75.04034559852354, + 4.635177013074603 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 153.51505897596468, + 75.04034559852354, + 4.635177013074603 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 153.51505897596468, + 75.04034559852354, + 4.635177013074603 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 153.51505897596468, + 75.04034559852354, + 4.635177013074603 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 153.51505897596468, + 75.04034559852354, + 4.635177013074603 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 153.51505897596468, + 75.04034559852354, + 4.635177013074603 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 153.51505897596468, + 75.04034559852354, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 152.01505897596468, + 77.63842180987686, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 150.51505897596468, + 80.23649802123018, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 149.01505897596468, + 82.83457423258349, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 147.51505897596468, + 85.43265044393681, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 146.01505897596468, + 88.03072665529012, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 144.51505897596468, + 90.62880286664344, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 143.01505897596468, + 93.22687907799676, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 141.51505897596468, + 95.82495528935007, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 140.01505897596468, + 98.42303150070339, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 138.51505897596468, + 101.0211077120567, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 137.01505897596468, + 103.61918392341002, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 135.51505897596468, + 106.21726013476334, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 134.01505897596468, + 108.81533634611665, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 132.51505897596468, + 111.41341255746997, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 131.01505897596468, + 114.01148876882328, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 129.51505897596468, + 116.6095649801766, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 128.01505897596468, + 119.20764119152992, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 126.51505897596468, + 121.80571740288323, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 125.01505897596468, + 124.40379361423655, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 123.51505897596468, + 127.00186982558986, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 122.01505897596468, + 129.59994603694318, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 120.51505897596468, + 132.1980222482965, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 119.01505897596468, + 134.7960984596498, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 117.51505897596468, + 137.39417467100313, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 116.01505897596468, + 139.99225088235644, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 114.51505897596468, + 142.59032709370976, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 113.01505897596468, + 145.18840330506308, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 111.51505897596468, + 147.7864795164164, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 110.01505897596468, + 150.3845557277697, + 4.635177013074603 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 110.01505897596468, + 150.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 110.01505897596468, + 153.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 110.01505897596468, + 156.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 110.01505897596468, + 159.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 110.01505897596468, + 162.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 110.01505897596468, + 165.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 110.01505897596468, + 168.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 110.01505897596468, + 171.3845557277697, + 4.635177013074603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + 110.01505897596468, + 174.3845557277697, + 4.635177013074603 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-46-8_1804289383/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-46-8_1804289383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c267808ec479748b88d10b50047243953c65fa0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-46-8_1804289383/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 52.544073080176716, + -78.69058314747824, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 52.544073080176716, + -75.69058314747824, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 52.544073080176716, + -72.69058314747824, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 52.544073080176716, + -69.69058314747824, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 52.544073080176716, + -66.69058314747824, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 52.544073080176716, + -63.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 52.544073080176716, + -60.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 52.544073080176716, + -57.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 52.544073080176716, + -54.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 52.544073080176716, + -51.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 52.544073080176716, + -48.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 52.544073080176716, + -45.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 52.544073080176716, + -42.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 52.544073080176716, + -39.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 52.544073080176716, + -36.690583147478236, + -0.22556854942422255 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 52.544073080176716, + -36.690583147478236, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 51.044073080176716, + -34.09250693612492, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 49.544073080176716, + -31.494430724771604, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 48.044073080176716, + -28.896354513418288, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 46.544073080176716, + -26.298278302064972, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 45.044073080176716, + -23.700202090711656, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 43.544073080176716, + -21.10212587935834, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.044073080176716, + -18.504049668005024, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 40.544073080176716, + -15.905973456651708, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 39.044073080176716, + -13.307897245298392, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 37.544073080176716, + -10.709821033945076, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 36.044073080176716, + -8.11174482259176, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 34.544073080176716, + -5.513668611238444, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 33.044073080176716, + -2.915592399885128, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 31.544073080176716, + -0.31751618853181185, + -0.22556854942422255 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 31.544073080176716, + -0.31751618853181185, + -0.22556854942422255 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 31.544073080176716, + -0.31751618853181185, + -0.22556854942422255 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 31.544073080176716, + -0.31751618853181185, + -0.22556854942422255 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 31.544073080176716, + -0.31751618853181185, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 34.14214929153003, + 1.182483811468188, + -0.22556854942422255 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 34.14214929153003, + 1.182483811468188, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 35.64214929153003, + 3.780560022821504, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 37.14214929153003, + 6.37863623417482, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 38.64214929153003, + 8.976712445528136, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 40.14214929153003, + 11.574788656881452, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 41.64214929153003, + 14.172864868234768, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 43.14214929153003, + 16.770941079588084, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 44.64214929153003, + 19.3690172909414, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 46.14214929153003, + 21.967093502294716, + -0.22556854942422255 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 46.14214929153003, + 21.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 48.74022550288335, + 23.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 51.338301714236664, + 24.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 53.93637792558998, + 26.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 56.534454136943296, + 27.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 59.13253034829661, + 29.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 61.73060655964993, + 30.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 64.32868277100324, + 32.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 66.92675898235656, + 33.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 69.52483519370988, + 35.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 72.12291140506319, + 36.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 74.72098761641651, + 38.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 77.31906382776982, + 39.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 79.91714003912314, + 41.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 82.51521625047646, + 42.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 85.11329246182977, + 44.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 87.71136867318309, + 45.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 90.3094448845364, + 47.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 92.90752109588972, + 48.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 95.50559730724304, + 50.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 98.10367351859635, + 51.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 100.70174972994967, + 53.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 103.29982594130298, + 54.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 105.8979021526563, + 56.467093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 108.49597836400962, + 57.967093502294716, + -0.22556854942422255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 111.09405457536293, + 59.467093502294716, + -0.22556854942422255 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-47-19_1681692777/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-47-19_1681692777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1d16bdbfc482f3e953a2494c488eac0dfbba3fb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-47-19_1681692777/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 961.1871370883008, + -170.57986150593504, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 962.6871370883008, + -173.17793771728836, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 964.1871370883008, + -175.77601392864167, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 965.6871370883008, + -178.374090139995, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 967.1871370883008, + -180.9721663513483, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 968.6871370883008, + -183.57024256270162, + 3.665359310766492 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 968.6871370883008, + -183.57024256270162, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 968.6871370883008, + -186.57024256270162, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 968.6871370883008, + -189.57024256270162, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 968.6871370883008, + -192.57024256270162, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 968.6871370883008, + -195.57024256270162, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 968.6871370883008, + -198.57024256270162, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 968.6871370883008, + -201.57024256270162, + 3.665359310766492 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 968.6871370883008, + -201.57024256270162, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 967.1871370883008, + -204.16831877405494, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 965.6871370883008, + -206.76639498540825, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 964.1871370883008, + -209.36447119676157, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 962.6871370883008, + -211.9625474081149, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 961.1871370883008, + -214.5606236194682, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 959.6871370883008, + -217.15869983082152, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 958.1871370883008, + -219.75677604217483, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 956.6871370883008, + -222.35485225352815, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 955.1871370883008, + -224.95292846488147, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 953.6871370883008, + -227.55100467623478, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 952.1871370883008, + -230.1490808875881, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 950.6871370883008, + -232.74715709894141, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 949.1871370883008, + -235.34523331029473, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 947.6871370883008, + -237.94330952164805, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 946.1871370883008, + -240.54138573300136, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 944.6871370883008, + -243.13946194435468, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 943.1871370883008, + -245.737538155708, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 941.6871370883008, + -248.3356143670613, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 940.1871370883008, + -250.93369057841463, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 938.6871370883008, + -253.53176678976794, + 3.665359310766492 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 938.6871370883008, + -253.53176678976794, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 936.0890608769475, + -255.03176678976794, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 933.4909846655942, + -256.5317667897679, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991512 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 930.8929084542408, + -258.0317667897679, + 3.665359310766492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 928.2948322428874, + -259.5317667897679, + 3.665359310766492 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-49-0_424238335/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-49-0_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39f32c4a435bf0c4ff5cbb4c59476f5de2230285 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-49-0_424238335/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1138.845912697419, + -88.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1138.845912697419, + -91.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1138.845912697419, + -94.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1138.845912697419, + -97.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1138.845912697419, + -100.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1138.845912697419, + -103.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1138.845912697419, + -106.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1138.845912697419, + -109.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1138.845912697419, + -112.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1138.845912697419, + -115.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1138.845912697419, + -118.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1138.845912697419, + -121.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1138.845912697419, + -124.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1138.845912697419, + -127.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1138.845912697419, + -130.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1138.845912697419, + -133.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1138.845912697419, + -136.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1138.845912697419, + -139.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1138.845912697419, + -142.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1138.845912697419, + -145.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1138.845912697419, + -148.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1138.845912697419, + -151.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1138.845912697419, + -154.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1138.845912697419, + -157.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1138.845912697419, + -160.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1138.845912697419, + -163.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1138.845912697419, + -166.9707793458858, + 1.9862378688594342 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1138.845912697419, + -166.9707793458858, + 1.9862378688594342 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1138.845912697419, + -166.9707793458858, + 1.9862378688594342 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1138.845912697419, + -166.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1136.2478364860656, + -168.4707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1133.6497602747122, + -169.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1131.0516840633588, + -171.4707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1128.4536078520055, + -172.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1125.855531640652, + -174.4707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1123.2574554292987, + -175.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1120.6593792179453, + -177.4707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1118.061303006592, + -178.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1115.4632267952386, + -180.4707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1112.8651505838852, + -181.9707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1110.2670743725319, + -183.4707793458858, + 1.9862378688594342 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1110.2670743725319, + -183.4707793458858, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1108.7670743725319, + -186.06885555723912, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1107.2670743725319, + -188.66693176859243, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1105.7670743725319, + -191.26500797994575, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1104.2670743725319, + -193.86308419129907, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1102.7670743725319, + -196.46116040265238, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1101.2670743725319, + -199.0592366140057, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1099.7670743725319, + -201.657312825359, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1098.2670743725319, + -204.25538903671233, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1096.7670743725319, + -206.85346524806565, + 1.9862378688594342 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1095.2670743725319, + -209.45154145941896, + 1.9862378688594342 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-52-47_783368690/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-52-47_783368690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b077c74300e5ee06fae523f2160c3206ea5ae7e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-52-47_783368690/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -66.2726512920612, + -719.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -66.2726512920612, + -716.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -66.2726512920612, + -713.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -66.2726512920612, + -710.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -66.2726512920612, + -707.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -66.2726512920612, + -704.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -66.2726512920612, + -701.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -66.2726512920612, + -698.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -66.2726512920612, + -695.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -66.2726512920612, + -692.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -66.2726512920612, + -689.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -66.2726512920612, + -686.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -66.2726512920612, + -683.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -66.2726512920612, + -680.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -66.2726512920612, + -677.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -66.2726512920612, + -674.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -66.2726512920612, + -671.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -66.2726512920612, + -668.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -66.2726512920612, + -665.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -66.2726512920612, + -662.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -66.2726512920612, + -659.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -66.2726512920612, + -656.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -66.2726512920612, + -653.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -66.2726512920612, + -650.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -66.2726512920612, + -647.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -66.2726512920612, + -644.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -66.2726512920612, + -641.898740664257, + -0.5452311729330139 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -66.2726512920612, + -641.898740664257, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -64.7726512920612, + -639.3006644529037, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -63.2726512920612, + -636.7025882415503, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -61.7726512920612, + -634.1045120301969, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -60.2726512920612, + -631.5064358188436, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -58.7726512920612, + -628.9083596074902, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -57.2726512920612, + -626.3102833961368, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -55.7726512920612, + -623.7122071847834, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.2726512920612, + -621.1141309734301, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -52.7726512920612, + -618.5160547620767, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -51.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -51.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -51.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -51.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -48.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -45.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -42.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -39.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -36.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -33.2726512920612, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -30.272651292061198, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -27.272651292061198, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -24.272651292061198, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -24.272651292061198, + -615.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -21.674575080707882, + -614.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -19.076498869354566, + -612.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -16.47842265800125, + -611.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -13.880346446647934, + -609.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -11.282270235294618, + -608.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -8.684194023941302, + -606.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -6.086117812587986, + -605.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -3.48804160123467, + -603.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -0.889965389881354, + -602.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1.708110821471962, + -600.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 4.306187032825278, + -599.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 6.904263244178594, + -597.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 9.50233945553191, + -596.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 12.100415666885226, + -594.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 14.698491878238542, + -593.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 17.296568089591858, + -591.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 19.894644300945174, + -590.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 22.49272051229849, + -588.9179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 25.090796723651806, + -587.4179785507233, + -0.5452311729330139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 27.688872935005122, + -585.9179785507233, + -0.5452311729330139 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-56-37_1303455736/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-56-37_1303455736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3c338420c597fd46723a05c33f44ed2209815fc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-56-37_1303455736/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 509.6871549811021, + -140.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 509.6871549811021, + -143.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 509.6871549811021, + -146.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 509.6871549811021, + -149.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 509.6871549811021, + -152.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 509.6871549811021, + -155.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 509.6871549811021, + -158.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 509.6871549811021, + -161.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 509.6871549811021, + -164.13499862014407, + 3.0017260921850415 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 509.6871549811021, + -164.13499862014407, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 508.1871549811021, + -166.7330748314974, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 506.6871549811021, + -169.3311510428507, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 505.1871549811021, + -171.92922725420402, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 503.6871549811021, + -174.52730346555734, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 502.1871549811021, + -177.12537967691065, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 500.6871549811021, + -179.72345588826397, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 499.1871549811021, + -182.3215320996173, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 497.6871549811021, + -184.9196083109706, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 496.1871549811021, + -187.51768452232392, + 3.0017260921850415 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 496.1871549811021, + -187.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.1871549811021, + -190.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 496.1871549811021, + -193.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 496.1871549811021, + -196.51768452232392, + 3.0017260921850415 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 496.1871549811021, + -196.51768452232392, + 3.0017260921850415 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 496.1871549811021, + -196.51768452232392, + 3.0017260921850415 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 496.1871549811021, + -196.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 493.58907876974877, + -198.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 490.99100255839545, + -199.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 488.39292634704213, + -201.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 485.7948501356888, + -202.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 483.1967739243355, + -204.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 480.5986977129822, + -205.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 478.00062150162887, + -207.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 475.40254529027555, + -208.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 472.80446907892224, + -210.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 470.2063928675689, + -211.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 467.6083166562156, + -213.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 465.0102404448623, + -214.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 462.412164233509, + -216.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 459.81408802215566, + -217.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 457.21601181080234, + -219.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 454.617935599449, + -220.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 452.0198593880957, + -222.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 449.4217831767424, + -223.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 446.8237069653891, + -225.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 444.22563075403576, + -226.51768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 441.62755454268245, + -228.01768452232392, + 3.0017260921850415 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 441.62755454268245, + -228.01768452232392, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 440.12755454268245, + -230.61576073367723, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 438.62755454268245, + -233.21383694503055, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 437.12755454268245, + -235.81191315638387, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 435.62755454268245, + -238.40998936773718, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 434.12755454268245, + -241.0080655790905, + 3.0017260921850415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 432.62755454268245, + -243.60614179044381, + 3.0017260921850415 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-57-36_521595368/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-57-36_521595368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7adc0fa4da589af5f6e581d1a9b3e4575dd41e46 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-57-36_521595368/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -136.95065134322203, + -198.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -136.95065134322203, + -201.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -136.95065134322203, + -204.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -136.95065134322203, + -207.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -136.95065134322203, + -210.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -136.95065134322203, + -213.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -136.95065134322203, + -216.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -136.95065134322203, + -219.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -136.95065134322203, + -222.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -136.95065134322203, + -225.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -136.95065134322203, + -228.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -136.95065134322203, + -231.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -136.95065134322203, + -234.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -136.95065134322203, + -237.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -136.95065134322203, + -240.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -136.95065134322203, + -243.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -136.95065134322203, + -246.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -136.95065134322203, + -249.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -136.95065134322203, + -252.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -136.95065134322203, + -255.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -136.95065134322203, + -258.53898762501535, + 3.4583205899615628 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -136.95065134322203, + -258.53898762501535, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -135.45065134322203, + -261.13706383636867, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -133.95065134322203, + -263.735140047722, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -132.45065134322203, + -266.3332162590753, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -130.95065134322203, + -268.9312924704286, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -129.45065134322203, + -271.52936868178193, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -127.95065134322203, + -274.12744489313525, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -126.45065134322203, + -276.72552110448856, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -124.95065134322203, + -279.3235973158419, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -123.45065134322203, + -281.9216735271952, + 3.4583205899615628 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -123.45065134322203, + -281.9216735271952, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -123.45065134322203, + -284.9216735271952, + 3.4583205899615628 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -123.45065134322203, + -284.9216735271952, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -121.95065134322203, + -287.5197497385485, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -120.45065134322203, + -290.1178259499018, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -118.95065134322203, + -292.71590216125514, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -117.45065134322203, + -295.31397837260846, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -115.95065134322203, + -297.9120545839618, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -114.45065134322203, + -300.5101307953151, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -112.95065134322203, + -303.1082070066684, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -111.45065134322203, + -305.7062832180217, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -109.95065134322203, + -308.30435942937504, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -108.45065134322203, + -310.90243564072836, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -106.95065134322203, + -313.5005118520817, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -105.45065134322203, + -316.098588063435, + 3.4583205899615628 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -105.45065134322203, + -316.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -102.85257513186872, + -317.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -100.2544989205154, + -319.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -97.65642270916209, + -320.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -95.05834649780877, + -322.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -92.46027028645545, + -323.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -89.86219407510214, + -325.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -87.26411786374882, + -326.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -84.6660416523955, + -328.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -82.06796544104219, + -329.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -79.46988922968887, + -331.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -76.87181301833556, + -332.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -74.27373680698224, + -334.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -71.67566059562893, + -335.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -69.07758438427561, + -337.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -66.4795081729223, + -338.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -63.88143196156898, + -340.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -61.28335575021566, + -341.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -58.685279538862346, + -343.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -56.08720332750903, + -344.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -53.489127116155714, + -346.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -50.8910509048024, + -347.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -48.29297469344908, + -349.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -45.694898482095766, + -350.598588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -43.09682227074245, + -352.098588063435, + 3.4583205899615628 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -43.09682227074245, + -352.098588063435, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -41.59682227074245, + -354.6966642747883, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -40.09682227074245, + -357.2947404861416, + 3.4583205899615628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -38.59682227074245, + -359.89281669749494, + 3.4583205899615628 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-57-5_35005211/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-57-5_35005211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad60f61b33357e71c2a4ee77700d1eb4de633fef --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-57-5_35005211/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1524.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1521.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1518.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1515.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1512.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1509.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1506.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1503.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1500.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1497.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1494.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1491.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1488.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1485.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1482.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1479.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1476.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1473.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1470.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1467.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1464.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1461.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1458.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1458.7134676517683, + -77.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1456.115391440415, + -79.36188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1453.5173152290615, + -80.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1450.9192390177082, + -82.36188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1448.3211628063548, + -83.86188741951717, + 3.670864972603759 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1448.3211628063548, + -83.86188741951717, + 3.670864972603759 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1448.3211628063548, + -83.86188741951717, + 3.670864972603759 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1448.3211628063548, + -83.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1448.3211628063548, + -86.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1448.3211628063548, + -89.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1448.3211628063548, + -92.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1448.3211628063548, + -95.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1448.3211628063548, + -98.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1448.3211628063548, + -101.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1448.3211628063548, + -104.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1448.3211628063548, + -107.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1448.3211628063548, + -110.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1448.3211628063548, + -113.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1448.3211628063548, + -116.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1448.3211628063548, + -119.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1448.3211628063548, + -122.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1448.3211628063548, + -125.86188741951717, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1448.3211628063548, + -128.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1448.3211628063548, + -131.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1448.3211628063548, + -134.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1448.3211628063548, + -137.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1448.3211628063548, + -140.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1448.3211628063548, + -143.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1448.3211628063548, + -146.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1448.3211628063548, + -149.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1448.3211628063548, + -152.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1448.3211628063548, + -155.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1448.3211628063548, + -158.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1448.3211628063548, + -161.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1448.3211628063548, + -164.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1448.3211628063548, + -167.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1448.3211628063548, + -170.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1448.3211628063548, + -173.8618874195172, + 3.670864972603759 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1448.3211628063548, + -173.8618874195172, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1446.8211628063548, + -176.4599636308705, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1445.3211628063548, + -179.05803984222382, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1443.8211628063548, + -181.65611605357714, + 3.670864972603759 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1443.8211628063548, + -181.65611605357714, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1441.2230865950014, + -183.15611605357714, + 3.670864972603759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1438.625010383648, + -184.65611605357714, + 3.670864972603759 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-58-47_1726956429/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-58-47_1726956429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1747c43eb5df9c7033e429396364a73a538d9b76 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_21-58-47_1726956429/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 561.808183412111, + -51.417357845893065, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 563.308183412111, + -48.81928163453975, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 564.808183412111, + -46.22120542318643, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 566.308183412111, + -43.62312921183312, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 567.808183412111, + -41.0250530004798, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 569.308183412111, + -38.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 570.808183412111, + -35.82890057777317, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 572.308183412111, + -33.23082436641985, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 573.808183412111, + -30.632748155066537, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 575.308183412111, + -28.03467194371322, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 576.808183412111, + -25.436595732359905, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 578.308183412111, + -22.83851952100659, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 579.808183412111, + -20.240443309653273, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 581.308183412111, + -17.642367098299957, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 582.808183412111, + -15.04429088694664, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 584.308183412111, + -12.446214675593325, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 585.808183412111, + -9.848138464240009, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 587.308183412111, + -7.250062252886693, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 588.808183412111, + -4.651986041533377, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 590.308183412111, + -2.0539098301800607, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 591.808183412111, + 0.5441663811732553, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 593.308183412111, + 3.1422425925265713, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 594.808183412111, + 5.740318803879887, + -3.0027769882359294 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 594.808183412111, + 5.740318803879887, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 594.808183412111, + 8.740318803879887, + -3.0027769882359294 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 594.808183412111, + 8.740318803879887, + -3.0027769882359294 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 594.808183412111, + 8.740318803879887, + -3.0027769882359294 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 594.808183412111, + 8.740318803879887, + -3.0027769882359294 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 594.808183412111, + 8.740318803879887, + -3.0027769882359294 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 594.808183412111, + 8.740318803879887, + -3.0027769882359294 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 594.808183412111, + 8.740318803879887, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 596.308183412111, + 6.142242592526571, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 597.808183412111, + 3.5441663811732553, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 599.308183412111, + 0.9460901698199393, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 600.808183412111, + -1.6519860415333767, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 602.308183412111, + -4.250062252886693, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 603.808183412111, + -6.848138464240009, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 605.308183412111, + -9.446214675593325, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 606.808183412111, + -12.04429088694664, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 608.308183412111, + -14.642367098299957, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 609.808183412111, + -17.240443309653273, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 611.308183412111, + -19.83851952100659, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 612.808183412111, + -22.436595732359905, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 614.308183412111, + -25.03467194371322, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 615.808183412111, + -27.632748155066537, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 617.308183412111, + -30.230824366419853, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 618.808183412111, + -32.82890057777317, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 620.308183412111, + -35.426976789126485, + -3.0027769882359294 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 620.308183412111, + -35.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 622.9062596234644, + -36.926976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 625.5043358348178, + -38.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 628.1024120461711, + -39.926976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 630.7004882575245, + -41.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 633.2985644688779, + -42.926976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 635.8966406802313, + -44.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 638.4947168915846, + -45.926976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 641.092793102938, + -47.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 643.6908693142914, + -48.926976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 646.2889455256447, + -50.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 648.8870217369981, + -51.926976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 651.4850979483515, + -53.426976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 654.0831741597049, + -54.926976789126485, + -3.0027769882359294 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 656.6812503710582, + -56.426976789126485, + -3.0027769882359294 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-0-20_278722862/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-0-20_278722862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1c137875475b7cf68857aea7e5c4e2a64a7b30f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-0-20_278722862/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 279.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 282.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 285.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 288.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 291.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 294.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 300.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 306.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 309.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 312.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 315.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 318.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 321.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 321.25516949486564, + -256.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 323.85324570621896, + -257.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.4513219175723, + -259.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 329.0493981289256, + -260.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 331.6474743402789, + -262.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 334.2455505516322, + -263.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 336.84362676298554, + -265.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.44170297433885, + -266.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 342.03977918569217, + -268.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 344.6378553970455, + -269.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 347.2359316083988, + -271.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 349.8340078197521, + -272.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 352.43208403110543, + -274.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 355.03016024245875, + -275.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 357.62823645381206, + -277.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 360.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 360.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 363.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 366.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 366.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 366.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 366.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 366.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 366.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 366.2263126651654, + -278.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 363.62823645381206, + -280.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 361.03016024245875, + -281.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 358.43208403110543, + -283.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 355.8340078197521, + -284.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 353.2359316083988, + -286.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 350.6378553970455, + -287.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 348.03977918569217, + -289.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 345.44170297433885, + -290.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 342.84362676298554, + -292.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 340.2455505516322, + -293.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 337.6474743402789, + -295.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 335.0493981289256, + -296.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 332.4513219175723, + -298.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 329.85324570621896, + -299.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 327.25516949486564, + -301.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 324.6570932835123, + -302.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 322.059017072159, + -304.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 319.4609408608057, + -305.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 316.8628646494524, + -307.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 314.26478843809906, + -308.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 311.66671222674574, + -310.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 309.0686360153924, + -311.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 306.4705598040391, + -313.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 303.8724835926858, + -314.96897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 301.2744073813325, + -316.46897521590597, + -0.3811316116698906 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 301.2744073813325, + -316.46897521590597, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 299.7744073813325, + -319.0670514272593, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 298.2744073813325, + -321.6651276386126, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 296.7744073813325, + -324.2632038499659, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 295.2744073813325, + -326.86128006131923, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 293.7744073813325, + -329.45935627267255, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 292.2744073813325, + -332.05743248402587, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 290.7744073813325, + -334.6555086953792, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 289.2744073813325, + -337.2535849067325, + -0.3811316116698906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 287.7744073813325, + -339.8516611180858, + -0.3811316116698906 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-11-41_1734575198/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-11-41_1734575198/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a730415648dd35efe82fba5bb61634a7b236bbc9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-11-41_1734575198/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 639.1088909593161, + 158.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 639.1088909593161, + 155.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 639.1088909593161, + 152.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 639.1088909593161, + 149.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 639.1088909593161, + 146.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 639.1088909593161, + 143.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 639.1088909593161, + 140.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 639.1088909593161, + 137.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 639.1088909593161, + 134.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 639.1088909593161, + 131.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 639.1088909593161, + 128.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 639.1088909593161, + 125.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 639.1088909593161, + 122.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 639.1088909593161, + 119.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 639.1088909593161, + 116.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 639.1088909593161, + 113.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 639.1088909593161, + 110.99449069904682, + 3.443006723265242 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 639.1088909593161, + 110.99449069904682, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 637.6088909593161, + 108.3964144876935, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 636.1088909593161, + 105.79833827634019, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 634.6088909593161, + 103.20026206498687, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 633.1088909593161, + 100.60218585363356, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 631.6088909593161, + 98.00410964228024, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 630.1088909593161, + 95.40603343092693, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 628.6088909593161, + 92.80795721957361, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 627.1088909593161, + 90.2098810082203, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 625.6088909593161, + 87.61180479686698, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 624.1088909593161, + 85.01372858551366, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 622.6088909593161, + 82.41565237416035, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 621.1088909593161, + 79.81757616280703, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 619.6088909593161, + 77.21949995145371, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 618.1088909593161, + 74.6214237401004, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 616.6088909593161, + 72.02334752874708, + 3.443006723265242 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 616.6088909593161, + 72.02334752874708, + 3.443006723265242 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 616.6088909593161, + 72.02334752874708, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 618.1088909593161, + 69.42527131739377, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 619.6088909593161, + 66.82719510604045, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 621.1088909593161, + 64.22911889468713, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 622.6088909593161, + 61.63104268333382, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 624.1088909593161, + 59.0329664719805, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 625.6088909593161, + 56.434890260627185, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 627.1088909593161, + 53.83681404927387, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 628.6088909593161, + 51.23873783792055, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 630.1088909593161, + 48.64066162656724, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 631.6088909593161, + 46.04258541521392, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 633.1088909593161, + 43.444509203860605, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 634.6088909593161, + 40.84643299250729, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 636.1088909593161, + 38.24835678115397, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 637.6088909593161, + 35.65028056980066, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 639.1088909593161, + 33.05220435844734, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 640.6088909593161, + 30.454128147094025, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 642.1088909593161, + 27.85605193574071, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 643.6088909593161, + 25.257975724387393, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 645.1088909593161, + 22.659899513034077, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 646.6088909593161, + 20.06182330168076, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 648.1088909593161, + 17.463747090327445, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 649.6088909593161, + 14.865670878974129, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 651.1088909593161, + 12.267594667620813, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 652.6088909593161, + 9.669518456267497, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 654.1088909593161, + 7.071442244914181, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 655.6088909593161, + 4.473366033560865, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 657.1088909593161, + 1.8752898222075487, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 658.6088909593161, + -0.7227863891457673, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 660.1088909593161, + -3.3208626004990833, + 3.443006723265242 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 660.1088909593161, + -3.3208626004990833, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 660.1088909593161, + -6.320862600499083, + 3.443006723265242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 660.1088909593161, + -9.320862600499083, + 3.443006723265242 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-14-2_1129566413/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-14-2_1129566413/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb35abd9d8169e2df5160421ae9a5a0f8ab48363 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-14-2_1129566413/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 17.459190791393837, + -8.800878026751406, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 20.057267002747153, + -7.3008780267514055, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 22.65534321410047, + -5.8008780267514055, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 25.253419425453785, + -4.3008780267514055, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 27.8514956368071, + -2.8008780267514055, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 30.449571848160417, + -1.3008780267514057, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 33.04764805951373, + 0.19912197324859404, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 35.64572427086705, + 1.6991219732485938, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 38.243800482220365, + 3.1991219732485936, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 40.84187669357368, + 4.699121973248594, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 43.439952904927, + 6.199121973248594, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 46.03802911628031, + 7.699121973248594, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 48.63610532763363, + 9.199121973248593, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 51.234181538986945, + 10.699121973248593, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 53.83225775034026, + 12.199121973248593, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 56.43033396169358, + 13.699121973248593, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 59.02841017304689, + 15.199121973248593, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 61.62648638440021, + 16.69912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 64.22456259575353, + 18.19912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 66.82263880710684, + 19.69912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 69.42071501846016, + 21.19912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 72.01879122981347, + 22.69912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.61686744116679, + 24.19912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 77.2149436525201, + 25.69912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 79.81301986387342, + 27.19912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 82.41109607522674, + 28.69912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 85.00917228658005, + 30.19912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 87.60724849793337, + 31.69912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 90.20532470928669, + 33.19912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 92.80340092064, + 34.69912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 95.40147713199332, + 36.19912197324859, + 0.931704130199237 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 95.40147713199332, + 36.19912197324859, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 96.90147713199332, + 38.7971981846019, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 98.40147713199332, + 41.39527439595522, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 99.90147713199332, + 43.993350607308535, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 101.40147713199332, + 46.59142681866185, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 102.90147713199332, + 49.18950303001517, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 104.40147713199332, + 51.78757924136848, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 105.90147713199332, + 54.3856554527218, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 107.40147713199332, + 56.983731664075115, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 108.90147713199332, + 59.58180787542843, + 0.931704130199237 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 108.90147713199332, + 59.58180787542843, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 108.90147713199332, + 62.58180787542843, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 108.90147713199332, + 65.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 108.90147713199332, + 68.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 108.90147713199332, + 71.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 108.90147713199332, + 74.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 108.90147713199332, + 77.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 108.90147713199332, + 80.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 108.90147713199332, + 83.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 108.90147713199332, + 86.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 108.90147713199332, + 89.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 108.90147713199332, + 92.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 108.90147713199332, + 95.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 108.90147713199332, + 98.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 108.90147713199332, + 101.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 108.90147713199332, + 104.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 108.90147713199332, + 107.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 108.90147713199332, + 110.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 108.90147713199332, + 113.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 108.90147713199332, + 116.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 108.90147713199332, + 119.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 108.90147713199332, + 122.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 108.90147713199332, + 125.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 108.90147713199332, + 128.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 108.90147713199332, + 131.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 108.90147713199332, + 134.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 108.90147713199332, + 137.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 108.90147713199332, + 140.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 108.90147713199332, + 143.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 108.90147713199332, + 146.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 108.90147713199332, + 149.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 108.90147713199332, + 152.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 108.90147713199332, + 155.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 108.90147713199332, + 158.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 108.90147713199332, + 161.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 108.90147713199332, + 164.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 108.90147713199332, + 167.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 108.90147713199332, + 170.58180787542844, + 0.931704130199237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 108.90147713199332, + 173.58180787542844, + 0.931704130199237 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-14-40_184803526/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-14-40_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da2d1167f2832040de7943a0cf1d4b72b1d0024c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-14-40_184803526/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -51.21447033060055, + -776.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -53.812546541953864, + -775.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -56.41062275330718, + -773.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -59.008698964660496, + -772.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -61.60677517601381, + -770.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -64.20485138736713, + -769.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -66.80292759872044, + -767.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -69.40100381007376, + -766.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -71.99908002142708, + -764.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -74.59715623278039, + -763.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.19523244413371, + -761.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -79.79330865548702, + -760.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -82.39138486684034, + -758.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -84.98946107819366, + -757.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -87.58753728954697, + -755.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -90.18561350090029, + -754.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -92.7836897122536, + -752.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -95.38176592360692, + -751.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -97.97984213496024, + -749.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -100.57791834631355, + -748.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -103.17599455766687, + -746.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -105.77407076902018, + -745.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -108.3721469803735, + -743.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -110.97022319172682, + -742.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -113.56829940308013, + -740.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -116.16637561443345, + -739.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -118.76445182578676, + -737.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -121.36252803714008, + -736.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -123.9606042484934, + -734.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -126.55868045984671, + -733.0646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -129.15675667120001, + -731.5646291793183, + -0.011578254747241168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -129.15675667120001, + -731.5646291793183, + -0.011578254747241168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -129.15675667120001, + -731.5646291793183, + -0.011578254747241168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -129.15675667120001, + -731.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -129.15675667120001, + -728.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.15675667120001, + -725.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -129.15675667120001, + -722.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.15675667120001, + -719.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -129.15675667120001, + -716.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -129.15675667120001, + -713.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -129.15675667120001, + -710.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -129.15675667120001, + -707.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -129.15675667120001, + -704.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -129.15675667120001, + -701.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -129.15675667120001, + -698.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -129.15675667120001, + -695.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -129.15675667120001, + -692.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -129.15675667120001, + -689.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -129.15675667120001, + -686.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -129.15675667120001, + -683.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -129.15675667120001, + -680.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -129.15675667120001, + -677.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -129.15675667120001, + -674.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -129.15675667120001, + -671.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -129.15675667120001, + -668.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -129.15675667120001, + -665.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -129.15675667120001, + -662.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -129.15675667120001, + -659.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -129.15675667120001, + -656.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -129.15675667120001, + -653.5646291793183, + -0.011578254747241168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -129.15675667120001, + -650.5646291793183, + -0.011578254747241168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-15-10_412776091/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-15-10_412776091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a35c2a83987fbd7690f2528c4c680598ebb7cad --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-15-10_412776091/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1123.3821400277563, + -316.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1120.784063816403, + -314.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1118.1859876050496, + -313.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1115.5879113936962, + -311.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1112.9898351823429, + -310.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1110.3917589709895, + -308.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1107.793682759636, + -307.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1105.1956065482827, + -305.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1102.5975303369294, + -304.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1099.999454125576, + -302.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1097.4013779142226, + -301.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1094.8033017028692, + -299.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1092.2052254915159, + -298.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1089.6071492801625, + -296.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1087.0090730688091, + -295.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1084.4109968574558, + -293.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1081.8129206461024, + -292.1007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1079.214844434749, + -290.6007189882524, + 1.786880335086095 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1079.214844434749, + -290.6007189882524, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1077.714844434749, + -288.0026427768991, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1076.214844434749, + -285.4045665655458, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1074.714844434749, + -282.8064903541925, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1073.214844434749, + -280.20841414283916, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1071.714844434749, + -277.61033793148584, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1070.214844434749, + -275.0122617201325, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1068.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1068.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1068.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1068.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1068.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1068.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1071.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1074.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1074.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1074.714844434749, + -272.4141855087792, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1076.214844434749, + -269.8161092974259, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1077.714844434749, + -267.2180330860726, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1079.214844434749, + -264.61995687471926, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1080.714844434749, + -262.02188066336595, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1082.214844434749, + -259.42380445201263, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1083.714844434749, + -256.8257282406593, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1085.214844434749, + -254.227652029306, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1086.714844434749, + -251.62957581795268, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1088.214844434749, + -249.03149960659937, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1089.714844434749, + -246.43342339524605, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1091.214844434749, + -243.83534718389274, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1092.714844434749, + -241.23727097253942, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1094.214844434749, + -238.6391947611861, + 1.786880335086095 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1094.214844434749, + -238.6391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1096.8129206461024, + -237.1391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1099.4109968574558, + -235.6391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1102.0090730688091, + -234.1391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1104.6071492801625, + -232.6391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1107.2052254915159, + -231.1391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1109.8033017028692, + -229.6391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1112.4013779142226, + -228.1391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1114.999454125576, + -226.6391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1117.5975303369294, + -225.1391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1120.1956065482827, + -223.6391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1122.793682759636, + -222.1391947611861, + 1.786880335086095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1125.3917589709895, + -220.6391947611861, + 1.786880335086095 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-18-1_42999170/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-18-1_42999170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..118be0dff730039dcee30d6b7e4b19186ccf9800 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-18-1_42999170/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.20091127551999, + -329.1126640622932, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.70091127551999, + -326.5145878509399, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -96.20091127551999, + -323.9165116395866, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.70091127551999, + -321.3184354282333, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -99.20091127551999, + -318.72035921687996, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -100.70091127551999, + -316.12228300552664, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -102.20091127551999, + -313.5242067941733, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -103.70091127551999, + -310.92613058282, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -105.20091127551999, + -308.3280543714667, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -106.70091127551999, + -305.7299781601134, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -108.20091127551999, + -303.13190194876006, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -109.70091127551999, + -300.53382573740674, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -111.20091127551999, + -297.9357495260534, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -112.70091127551999, + -295.3376733147001, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -114.20091127551999, + -292.7395971033468, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -115.70091127551999, + -290.1415208919935, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -117.20091127551999, + -287.54344468064016, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -118.70091127551999, + -284.94536846928685, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -120.20091127551999, + -282.34729225793353, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -121.70091127551999, + -279.7492160465802, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -123.20091127551999, + -277.1511398352269, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -124.70091127551999, + -274.5530636238736, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -126.20091127551999, + -271.95498741252027, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -127.70091127551999, + -269.35691120116695, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -129.20091127551999, + -266.75883498981364, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -130.70091127551999, + -264.1607587784603, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -132.20091127551999, + -261.562682567107, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -133.70091127551999, + -258.9646063557537, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -135.20091127551999, + -256.3665301444004, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -136.70091127551999, + -253.76845393304706, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -138.20091127551999, + -251.17037772169374, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -139.70091127551999, + -248.57230151034042, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -141.20091127551999, + -245.9742252989871, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -142.70091127551999, + -243.3761490876338, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -144.20091127551999, + -240.77807287628048, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -145.70091127551999, + -238.17999666492716, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -147.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -147.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -147.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -150.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -150.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -150.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -150.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -150.20091127551999, + -235.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -150.20091127551999, + -232.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -150.20091127551999, + -229.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -150.20091127551999, + -226.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -150.20091127551999, + -223.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -150.20091127551999, + -220.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -150.20091127551999, + -217.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -150.20091127551999, + -214.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -150.20091127551999, + -211.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -150.20091127551999, + -208.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -150.20091127551999, + -205.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -150.20091127551999, + -202.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -150.20091127551999, + -199.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -150.20091127551999, + -196.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -150.20091127551999, + -193.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -150.20091127551999, + -190.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -150.20091127551999, + -187.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -150.20091127551999, + -184.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -150.20091127551999, + -181.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -150.20091127551999, + -178.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -150.20091127551999, + -175.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -150.20091127551999, + -172.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -150.20091127551999, + -169.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -150.20091127551999, + -166.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -150.20091127551999, + -163.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -150.20091127551999, + -160.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -150.20091127551999, + -157.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -150.20091127551999, + -154.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -150.20091127551999, + -151.58192045357384, + 2.7206614755860103 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -150.20091127551999, + -151.58192045357384, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -148.70091127551999, + -148.98384424222053, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -147.20091127551999, + -146.3857680308672, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -145.70091127551999, + -143.7876918195139, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -144.20091127551999, + -141.18961560816058, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -142.70091127551999, + -138.59153939680726, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -141.20091127551999, + -135.99346318545395, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -139.70091127551999, + -133.39538697410063, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -138.20091127551999, + -130.79731076274732, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -136.70091127551999, + -128.199234551394, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -135.20091127551999, + -125.60115834004068, + 2.7206614755860103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -133.70091127551999, + -123.00308212868737, + 2.7206614755860103 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-18-39_982906996/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-18-39_982906996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1654b49b6b909f3df7c9ad150fd1b1f03191663 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-18-39_982906996/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -59.76343281359165, + -597.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -62.361509024944965, + -599.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -64.95958523629828, + -600.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -67.5576614476516, + -602.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -70.15573765900491, + -603.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -72.75381387035823, + -605.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -75.35189008171155, + -606.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -77.94996629306486, + -608.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -80.54804250441818, + -609.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -83.1461187157715, + -611.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -85.74419492712481, + -612.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -88.34227113847813, + -614.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -90.94034734983144, + -615.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -93.53842356118476, + -617.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -96.13649977253807, + -618.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -98.73457598389139, + -620.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.3326521952447, + -621.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -103.93072840659802, + -623.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -106.52880461795134, + -624.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -109.12688082930465, + -626.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -111.72495704065797, + -627.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -114.32303325201129, + -629.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -116.9211094633646, + -630.6620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -119.51918567471792, + -632.1620021931303, + -2.4276343875598583 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -119.51918567471792, + -632.1620021931303, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -121.01918567471792, + -634.7600784044837, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -122.51918567471792, + -637.3581546158371, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -124.01918567471792, + -639.9562308271904, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -125.51918567471792, + -642.5543070385438, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -127.01918567471792, + -645.1523832498972, + -2.4276343875598583 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -127.01918567471792, + -645.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -127.01918567471792, + -648.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.01918567471792, + -651.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -127.01918567471792, + -654.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -127.01918567471792, + -657.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -127.01918567471792, + -660.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -127.01918567471792, + -663.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -127.01918567471792, + -666.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -127.01918567471792, + -669.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -127.01918567471792, + -672.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -127.01918567471792, + -675.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -127.01918567471792, + -678.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -127.01918567471792, + -681.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -127.01918567471792, + -684.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -127.01918567471792, + -687.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -127.01918567471792, + -690.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -127.01918567471792, + -693.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -127.01918567471792, + -696.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -127.01918567471792, + -699.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -127.01918567471792, + -702.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -127.01918567471792, + -705.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -127.01918567471792, + -708.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -127.01918567471792, + -711.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -127.01918567471792, + -714.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -127.01918567471792, + -717.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -127.01918567471792, + -720.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -127.01918567471792, + -723.1523832498972, + -2.4276343875598583 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -127.01918567471792, + -723.1523832498972, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -128.5191856747179, + -725.7504594612506, + -2.4276343875598583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393182 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -130.0191856747179, + -728.3485356726039, + -2.4276343875598583 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393182 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-2-12_468703135/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-2-12_468703135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbe4791c1c4e4e7ddbfd5d47e7510a3b5a8c75e6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-2-12_468703135/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1351.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1354.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1357.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1360.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1363.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1366.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1369.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1372.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1375.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1378.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1381.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1384.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1387.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1390.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1393.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1396.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1399.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1402.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1405.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1408.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1414.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1417.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1420.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1423.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1423.5303951124, + -9.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1426.1284713237533, + -8.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1428.7265475351066, + -6.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1431.32462374646, + -5.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1433.9226999578134, + -3.69855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1436.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1436.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1439.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1442.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1445.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1445.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1445.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1445.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1445.5207761691668, + -2.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1445.5207761691668, + -5.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1445.5207761691668, + -8.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1445.5207761691668, + -11.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1445.5207761691668, + -14.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1445.5207761691668, + -17.198559284910772, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1445.5207761691668, + -20.198559284910772, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1445.5207761691668, + -23.198559284910772, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1445.5207761691668, + -26.198559284910772, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1445.5207761691668, + -29.198559284910772, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1445.5207761691668, + -32.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1445.5207761691668, + -35.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1445.5207761691668, + -38.19855928491077, + -2.7731307281084345 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1445.5207761691668, + -38.19855928491077, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1444.0207761691668, + -40.79663549626409, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1442.5207761691668, + -43.394711707617404, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1441.0207761691668, + -45.99278791897072, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1439.5207761691668, + -48.590864130324036, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1438.0207761691668, + -51.18894034167735, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1436.5207761691668, + -53.78701655303067, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1435.0207761691668, + -56.385092764383984, + -2.7731307281084345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1433.5207761691668, + -58.9831689757373, + -2.7731307281084345 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-2-41_1101513929/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-2-41_1101513929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..803c277857eaf13235b3e9957fa9d0d608c810d2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-2-41_1101513929/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -33.14152312775803, + -447.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -33.14152312775803, + -444.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -33.14152312775803, + -441.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -33.14152312775803, + -438.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -33.14152312775803, + -435.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -33.14152312775803, + -432.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -33.14152312775803, + -429.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -33.14152312775803, + -426.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -33.14152312775803, + -423.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -33.14152312775803, + -420.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -33.14152312775803, + -417.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -33.14152312775803, + -414.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -33.14152312775803, + -411.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -33.14152312775803, + -408.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -33.14152312775803, + -405.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -33.14152312775803, + -402.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -33.14152312775803, + -399.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -33.14152312775803, + -396.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -33.14152312775803, + -393.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -33.14152312775803, + -390.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -33.14152312775803, + -387.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -33.14152312775803, + -384.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -33.14152312775803, + -381.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -33.14152312775803, + -378.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -33.14152312775803, + -375.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -33.14152312775803, + -372.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -33.14152312775803, + -369.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -33.14152312775803, + -366.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -33.14152312775803, + -363.37520294047704, + -0.6245259453279948 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -33.14152312775803, + -363.37520294047704, + -0.6245259453279948 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -33.14152312775803, + -363.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -35.739599339111344, + -361.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -38.33767555046466, + -360.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -40.935751761817976, + -358.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -43.53382797317129, + -357.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -46.13190418452461, + -355.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -48.729980395877924, + -354.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -51.32805660723124, + -352.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -53.926132818584556, + -351.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -56.52420902993787, + -349.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -59.12228524129119, + -348.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -61.720361452644504, + -346.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -64.31843766399783, + -345.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -66.91651387535114, + -343.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -69.51459008670446, + -342.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -72.11266629805777, + -340.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -74.71074250941109, + -339.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -77.3088187207644, + -337.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -79.90689493211772, + -336.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -82.50497114347104, + -334.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -85.10304735482435, + -333.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -87.70112356617767, + -331.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -90.29919977753099, + -330.37520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -92.8972759888843, + -328.87520294047704, + -0.6245259453279948 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -92.8972759888843, + -328.87520294047704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -94.3972759888843, + -326.2771267291237, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -95.8972759888843, + -323.6790505177704, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -97.3972759888843, + -321.0809743064171, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -98.8972759888843, + -318.4828980950638, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -100.3972759888843, + -315.88482188371046, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -101.8972759888843, + -313.28674567235714, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -103.3972759888843, + -310.6886694610038, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -104.8972759888843, + -308.0905932496505, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -106.3972759888843, + -305.4925170382972, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -107.8972759888843, + -302.8944408269439, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -109.3972759888843, + -300.29636461559056, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -110.8972759888843, + -297.69828840423725, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -112.3972759888843, + -295.10021219288393, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -113.8972759888843, + -292.5021359815306, + -0.6245259453279948 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -113.8972759888843, + -292.5021359815306, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -116.49535220023762, + -291.0021359815306, + -0.6245259453279948 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -119.09342841159093, + -289.5021359815306, + -0.6245259453279948 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-21-31_1827336327/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-21-31_1827336327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3db20bc2788c6ae8b65bd86881e99516db17c8ee --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-21-31_1827336327/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -358.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -355.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -352.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -349.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -346.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -343.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -340.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -337.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -334.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -331.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -328.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -325.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -325.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -325.4614804782867, + -218.04229306220864, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -323.9614804782867, + -215.44421685085533, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -322.4614804782867, + -212.846140639502, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -320.9614804782867, + -210.2480644281487, + 1.6215888909418634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.9614804782867, + -210.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -318.3634042669334, + -208.7480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -315.7653280555801, + -207.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -313.16725184422677, + -205.7480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -310.56917563287345, + -204.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -307.97109942152014, + -202.7480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -305.3730232101668, + -201.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -302.7749469988135, + -199.7480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -300.1768707874602, + -198.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -297.5787945761069, + -196.7480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -294.98071836475356, + -195.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -292.38264215340024, + -193.7480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -289.7845659420469, + -192.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -287.1864897306936, + -190.7480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -284.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -284.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -281.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -281.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -281.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -281.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -281.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -281.5884135193403, + -189.2480644281487, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -283.0884135193403, + -186.64998821679538, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -284.5884135193403, + -184.05191200544206, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -286.0884135193403, + -181.45383579408875, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -287.5884135193403, + -178.85575958273543, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -289.0884135193403, + -176.25768337138211, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -290.5884135193403, + -173.6596071600288, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -292.0884135193403, + -171.06153094867548, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -293.5884135193403, + -168.46345473732217, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -295.0884135193403, + -165.86537852596885, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -296.5884135193403, + -163.26730231461553, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -298.0884135193403, + -160.66922610326222, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -299.5884135193403, + -158.0711498919089, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -301.0884135193403, + -155.4730736805556, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -302.5884135193403, + -152.87499746920227, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -304.0884135193403, + -150.27692125784895, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -305.5884135193403, + -147.67884504649564, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -307.0884135193403, + -145.08076883514232, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -308.5884135193403, + -142.482692623789, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -310.0884135193403, + -139.8846164124357, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -311.5884135193403, + -137.28654020108237, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -313.0884135193403, + -134.68846398972906, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -314.5884135193403, + -132.09038777837574, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -316.0884135193403, + -129.49231156702243, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -317.5884135193403, + -126.89423535566911, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -319.0884135193403, + -124.2961591443158, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -320.5884135193403, + -121.69808293296248, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -322.0884135193403, + -119.10000672160916, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -323.5884135193403, + -116.50193051025585, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -325.0884135193403, + -113.90385429890253, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -326.5884135193403, + -111.30577808754921, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -328.0884135193403, + -108.7077018761959, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -329.5884135193403, + -106.10962566484258, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -331.0884135193403, + -103.51154945348927, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -332.5884135193403, + -100.91347324213595, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -334.0884135193403, + -98.31539703078263, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -335.5884135193403, + -95.71732081942932, + 1.6215888909418634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -337.0884135193403, + -93.119244608076, + 1.6215888909418634 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-22-9_572660336/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-22-9_572660336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d308fcb8ea6e5314a4bf17d41113f3ac835167f7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-22-9_572660336/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1393.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1396.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1399.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1402.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1405.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1408.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1411.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1414.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1417.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1420.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1423.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1426.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1429.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1432.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1435.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1438.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1441.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1444.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1447.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1450.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1453.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1456.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1459.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1462.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1465.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1468.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1468.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1468.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1470.0602612547195, + -0.0685047849572662, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1471.5602612547195, + 2.52957142639605, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1473.0602612547195, + 5.127647637749366, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1474.5602612547195, + 7.725723849102682, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1476.0602612547195, + 10.323800060455998, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1474.5602612547195, + 7.725723849102682, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1473.0602612547195, + 5.127647637749366, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1471.5602612547195, + 2.52957142639605, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1470.0602612547195, + -0.0685047849572662, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1468.5602612547195, + -2.666580996310582, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1467.0602612547195, + -5.264657207663898, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1465.5602612547195, + -7.862733419017214, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1464.0602612547195, + -10.46080963037053, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1462.5602612547195, + -13.058885841723846, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1461.0602612547195, + -15.656962053077162, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1459.5602612547195, + -18.25503826443048, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1458.0602612547195, + -20.853114475783794, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1456.5602612547195, + -23.45119068713711, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1455.0602612547195, + -26.049266898490426, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1453.5602612547195, + -28.647343109843742, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1452.0602612547195, + -31.24541932119706, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1450.5602612547195, + -33.84349553255038, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393195 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1449.0602612547195, + -36.441571743903694, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1447.5602612547195, + -39.03964795525701, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1446.0602612547195, + -41.637724166610326, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1444.5602612547195, + -44.23580037796364, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1443.0602612547195, + -46.83387658931696, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1441.5602612547195, + -49.431952800670274, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1440.0602612547195, + -52.03002901202359, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1438.5602612547195, + -54.628105223376906, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1437.0602612547195, + -57.22618143473022, + 0.8386353166994853 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1437.0602612547195, + -57.22618143473022, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1437.0602612547195, + -60.22618143473022, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1437.0602612547195, + -63.22618143473022, + 0.8386353166994853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1437.0602612547195, + -66.22618143473022, + 0.8386353166994853 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-24-9_1100661313/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-24-9_1100661313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5edff7dd9a842ef6ea19553d0aa502b04e4b5d4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-24-9_1100661313/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 90.5723987230663, + -453.3614792917516, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.0723987230663, + -455.9595555031049, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 93.5723987230663, + -458.55763171445824, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 95.0723987230663, + -461.15570792581156, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.5723987230663, + -463.75378413716487, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 98.0723987230663, + -466.3518603485182, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 99.5723987230663, + -468.9499365598715, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.0723987230663, + -471.5480127712248, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.5723987230663, + -474.14608898257814, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 104.0723987230663, + -476.74416519393145, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.5723987230663, + -479.34224140528477, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 107.0723987230663, + -481.9403176166381, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 108.5723987230663, + -484.5383938279914, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 110.0723987230663, + -487.1364700393447, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 111.5723987230663, + -489.73454625069803, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 113.0723987230663, + -492.33262246205135, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 114.5723987230663, + -494.93069867340466, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 116.0723987230663, + -497.528774884758, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 117.5723987230663, + -500.1268510961113, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 119.0723987230663, + -502.7249273074646, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 120.5723987230663, + -505.3230035188179, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 122.0723987230663, + -507.92107973017124, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 123.5723987230663, + -510.51915594152456, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 125.0723987230663, + -513.1172321528779, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 126.5723987230663, + -515.7153083642313, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 128.0723987230663, + -518.3133845755847, + 2.8255706202620665 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 128.0723987230663, + -518.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 128.0723987230663, + -521.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 128.0723987230663, + -524.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 128.0723987230663, + -527.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 128.0723987230663, + -530.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 128.0723987230663, + -533.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 128.0723987230663, + -536.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 128.0723987230663, + -539.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 128.0723987230663, + -542.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 128.0723987230663, + -545.3133845755847, + 2.8255706202620665 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 128.0723987230663, + -545.3133845755847, + 2.8255706202620665 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 128.0723987230663, + -545.3133845755847, + 2.8255706202620665 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 128.0723987230663, + -545.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 125.47432251171298, + -546.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 122.87624630035967, + -548.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 120.27817008900635, + -549.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 117.68009387765304, + -551.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 115.08201766629972, + -552.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 112.4839414549464, + -554.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 109.88586524359309, + -555.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 107.28778903223977, + -557.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 104.68971282088646, + -558.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 102.09163660953314, + -560.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 99.49356039817982, + -561.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 96.89548418682651, + -563.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 94.29740797547319, + -564.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 91.69933176411988, + -566.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 89.10125555276656, + -567.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 86.50317934141324, + -569.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 83.90510313005993, + -570.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 81.30702691870661, + -572.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 78.7089507073533, + -573.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 76.11087449599998, + -575.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 73.51279828464666, + -576.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 70.91472207329335, + -578.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 68.31664586194003, + -579.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 65.71856965058672, + -581.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 63.1204934392334, + -582.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 60.522417227880084, + -584.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 57.92434101652677, + -585.8133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 55.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 55.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 52.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 49.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 46.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 43.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 40.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 37.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 34.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 31.32626480517345, + -587.3133845755847, + 2.8255706202620665 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-25-21_1141616124/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-25-21_1141616124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..022e77ecb2ce05dd5b9ff77ff27cb65742cb18d7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-25-21_1141616124/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 358.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 361.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 364.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 367.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 370.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 373.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 376.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 379.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 382.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 385.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 388.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 391.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 394.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 394.692830453365, + -472.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 397.2909066647183, + -473.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 399.8889828760716, + -475.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 402.48705908742494, + -476.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 405.08513529877825, + -478.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 407.68321151013157, + -479.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 410.2812877214849, + -481.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 412.8793639328382, + -482.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 415.4774401441915, + -484.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 418.07551635554483, + -485.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 420.67359256689815, + -487.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 423.27166877825147, + -488.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 425.8697449896048, + -490.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 428.4678212009581, + -491.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 431.0658974123114, + -493.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 433.66397362366473, + -494.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 436.26204983501805, + -496.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 438.86012604637136, + -497.7549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 441.4582022577247, + -499.2549628474135, + -2.3405504758745144 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 441.4582022577247, + -499.2549628474135, + -2.3405504758745144 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 441.4582022577247, + -499.2549628474135, + -2.3405504758745144 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 441.4582022577247, + -499.2549628474135, + -2.3405504758745144 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 441.4582022577247, + -499.2549628474135, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 442.9582022577247, + -496.65688663606016, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 444.4582022577247, + -494.05881042470685, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 445.9582022577247, + -491.46073421335353, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 447.4582022577247, + -488.8626580020002, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 448.9582022577247, + -486.2645817906469, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 450.4582022577247, + -483.6665055792936, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 451.9582022577247, + -481.06842936794027, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 453.4582022577247, + -478.47035315658695, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 454.9582022577247, + -475.87227694523364, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 456.4582022577247, + -473.2742007338803, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 457.9582022577247, + -470.676124522527, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 459.4582022577247, + -468.0780483111737, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 460.9582022577247, + -465.4799720998204, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 462.4582022577247, + -462.88189588846706, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 463.9582022577247, + -460.28381967711374, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 465.4582022577247, + -457.6857434657604, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 466.9582022577247, + -455.0876672544071, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 468.4582022577247, + -452.4895910430538, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 469.9582022577247, + -449.8915148317005, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 471.4582022577247, + -447.29343862034716, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 472.9582022577247, + -444.69536240899384, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 474.4582022577247, + -442.0972861976405, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 475.9582022577247, + -439.4992099862872, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 477.4582022577247, + -436.9011337749339, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 478.9582022577247, + -434.3030575635806, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 480.4582022577247, + -431.70498135222726, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 481.9582022577247, + -429.10690514087395, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 483.4582022577247, + -426.50882892952063, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 484.9582022577247, + -423.9107527181673, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 486.4582022577247, + -421.312676506814, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 487.9582022577247, + -418.7146002954607, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 489.4582022577247, + -416.11652408410737, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 490.9582022577247, + -413.51844787275405, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 492.4582022577247, + -410.92037166140074, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 493.9582022577247, + -408.3222954500474, + -2.3405504758745144 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 493.9582022577247, + -408.3222954500474, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 493.9582022577247, + -405.3222954500474, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 493.9582022577247, + -402.3222954500474, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 493.9582022577247, + -399.3222954500474, + -2.3405504758745144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 493.9582022577247, + -396.3222954500474, + -2.3405504758745144 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-27-15_2001100545/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-27-15_2001100545/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..113140b3da74a1820ab23e9d10f65bcf1edba2e2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-27-15_2001100545/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -9.386916646457426, + -502.67081487794127, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -7.886916646457426, + -505.2688910892946, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -6.386916646457426, + -507.8669673006479, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -4.886916646457426, + -510.4650435120012, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -3.386916646457425, + -513.0631197233545, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1.8869166464574247, + -515.6611959347078, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -0.3869166464574243, + -518.2592721460612, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1.1130833535425761, + -520.8573483574146, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2.6130833535425766, + -523.455424568768, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4.113083353542577, + -526.0535007801213, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 5.613083353542578, + -528.6515769914747, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196607 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 7.113083353542578, + -531.2496532028281, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.613083353542578, + -533.8477294141815, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 10.113083353542578, + -536.4458056255348, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 11.613083353542578, + -539.0438818368882, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 13.113083353542578, + -541.6419580482416, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 14.613083353542578, + -544.240034259595, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 16.113083353542578, + -546.8381104709483, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 17.613083353542578, + -549.4361866823017, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 19.113083353542578, + -552.0342628936551, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 20.613083353542578, + -554.6323391050084, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 22.113083353542578, + -557.2304153163618, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 23.613083353542578, + -559.8284915277152, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 25.113083353542578, + -562.4265677390686, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 26.613083353542578, + -565.0246439504219, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 28.113083353542578, + -567.6227201617753, + -3.1082551024894567 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 28.113083353542578, + -567.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 28.113083353542578, + -570.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 28.113083353542578, + -573.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 28.113083353542578, + -576.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 28.113083353542578, + -579.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 28.113083353542578, + -582.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 28.113083353542578, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 28.113083353542578, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 28.113083353542578, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 28.113083353542578, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 28.113083353542578, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 31.113083353542578, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 34.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 37.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 43.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 46.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 49.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 52.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 55.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 58.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 61.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 64.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 64.11308335354258, + -585.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 66.7111595648959, + -584.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 69.30923577624921, + -582.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 71.90731198760253, + -581.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 74.50538819895584, + -579.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 77.10346441030916, + -578.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 79.70154062166247, + -576.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 82.29961683301579, + -575.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 84.8976930443691, + -573.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 87.49576925572242, + -572.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 90.09384546707574, + -570.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 92.69192167842905, + -569.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 95.28999788978237, + -567.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 97.88807410113569, + -566.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 100.486150312489, + -564.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 103.08422652384232, + -563.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 105.68230273519563, + -561.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 108.28037894654895, + -560.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 110.87845515790227, + -558.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 113.47653136925558, + -557.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 116.0746075806089, + -555.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 118.67268379196221, + -554.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 121.27076000331553, + -552.6227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 123.86883621466885, + -551.1227201617753, + -3.1082551024894567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 126.46691242602216, + -549.6227201617753, + -3.1082551024894567 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-28-57_610515434/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-28-57_610515434/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80f0a46fdbf8b7e72da680b96e23a506fb71647b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-28-57_610515434/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 859.5480527835712, + -191.403836152554, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 861.0480527835712, + -194.0019123639073, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 862.5480527835712, + -196.59998857526062, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 864.0480527835712, + -199.19806478661394, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 865.5480527835712, + -201.79614099796726, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 867.0480527835712, + -204.39421720932057, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 868.5480527835712, + -206.9922934206739, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 870.0480527835712, + -209.5903696320272, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 871.5480527835712, + -212.18844584338052, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 873.0480527835712, + -214.78652205473384, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 874.5480527835712, + -217.38459826608715, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 876.0480527835712, + -219.98267447744047, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 877.5480527835712, + -222.58075068879378, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 879.0480527835712, + -225.1788269001471, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 880.5480527835712, + -227.77690311150042, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 882.0480527835712, + -230.37497932285373, + 0.6972692871281252 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 882.0480527835712, + -230.37497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 884.6461289949245, + -231.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 887.2442052062779, + -233.37497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 889.8422814176313, + -234.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 892.4403576289847, + -236.37497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 895.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 895.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 898.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 901.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 904.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 907.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 910.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 913.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 916.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 919.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 922.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 925.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 928.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 931.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 934.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 937.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 940.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 943.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 946.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 946.038433840338, + -237.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 948.6365100516914, + -239.37497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 951.2345862630448, + -240.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 953.8326624743981, + -242.37497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 956.4307386857515, + -243.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 959.0288148971049, + -245.37497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 961.6268911084583, + -246.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 964.2249673198116, + -248.37497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 966.823043531165, + -249.87497932285373, + 0.6972692871281252 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 969.4211197425184, + -251.37497932285373, + 0.6972692871281252 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-29-25_1585990364/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-29-25_1585990364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82ca4ae67b078ef030da5f394f9afeeef436b9ea --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-29-25_1585990364/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -140.76092464680417, + -680.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -138.16284843545085, + -678.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -135.56477222409754, + -677.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -132.96669601274422, + -675.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -130.3686198013909, + -674.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -127.77054359003759, + -672.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -125.17246737868427, + -671.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -122.57439116733096, + -669.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -119.97631495597764, + -668.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -117.37823874462433, + -666.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -114.78016253327101, + -665.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -112.1820863219177, + -663.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -109.58401011056438, + -662.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -106.98593389921106, + -660.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -104.38785768785775, + -659.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -101.78978147650443, + -657.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -99.19170526515111, + -656.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -96.5936290537978, + -654.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -93.99555284244448, + -653.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -91.39747663109117, + -651.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -88.79940041973785, + -650.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -86.20132420838453, + -648.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -83.60324799703122, + -647.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -81.0051717856779, + -645.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -78.40709557432459, + -644.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -75.80901936297127, + -642.5641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -73.21094315161795, + -641.0641678797064, + -3.0211554609481 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -73.21094315161795, + -641.0641678797064, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -71.71094315161795, + -638.4660916683531, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -70.21094315161795, + -635.8680154569997, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -68.71094315161795, + -633.2699392456464, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -67.21094315161795, + -630.671863034293, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -65.71094315161795, + -628.0737868229396, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -64.21094315161795, + -625.4757106115862, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -62.710943151617954, + -622.8776344002329, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -61.210943151617954, + -620.2795581888795, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -59.710943151617954, + -617.6814819775261, + -3.0211554609481 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -59.710943151617954, + -617.6814819775261, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -57.11286694026464, + -616.1814819775261, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -54.51479072891132, + -614.6814819775261, + -3.0211554609481 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -54.51479072891132, + -614.6814819775261, + -3.0211554609481 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -54.51479072891132, + -614.6814819775261, + -3.0211554609481 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -54.51479072891132, + -614.6814819775261, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -51.916714517558006, + -616.1814819775261, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -49.31863830620469, + -617.6814819775261, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -46.720562094851374, + -619.1814819775261, + -3.0211554609481 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -46.720562094851374, + -619.1814819775261, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -45.220562094851374, + -621.7795581888795, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -43.720562094851374, + -624.3776344002329, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -42.220562094851374, + -626.9757106115862, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -40.720562094851374, + -629.5737868229396, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -39.220562094851374, + -632.171863034293, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -37.720562094851374, + -634.7699392456464, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -36.220562094851374, + -637.3680154569997, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -34.720562094851374, + -639.9660916683531, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -33.220562094851374, + -642.5641678797065, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -31.720562094851374, + -645.1622440910598, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -30.220562094851374, + -647.7603203024132, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -28.720562094851374, + -650.3583965137666, + -3.0211554609481 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -28.720562094851374, + -650.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -28.720562094851374, + -653.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -28.720562094851374, + -656.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -28.720562094851374, + -659.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -28.720562094851374, + -662.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -28.720562094851374, + -665.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -28.720562094851374, + -668.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -28.720562094851374, + -671.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -28.720562094851374, + -674.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -28.720562094851374, + -677.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -28.720562094851374, + -680.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -28.720562094851374, + -683.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -28.720562094851374, + -686.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -28.720562094851374, + -689.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -28.720562094851374, + -692.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -28.720562094851374, + -695.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -28.720562094851374, + -698.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -28.720562094851374, + -701.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -28.720562094851374, + -704.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -28.720562094851374, + -707.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -28.720562094851374, + -710.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -28.720562094851374, + -713.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -28.720562094851374, + -716.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -28.720562094851374, + -719.3583965137666, + -3.0211554609481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -28.720562094851374, + -722.3583965137666, + -3.0211554609481 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-3-15_1801979802/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-3-15_1801979802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e7315f68509cf3a95d7619f6fadc7d63db52dd1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-3-15_1801979802/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 298.36080426932665, + 102.38006094985974, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 296.86080426932665, + 104.97813716121306, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.36080426932665, + 107.57621337256637, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.86080426932665, + 110.17428958391969, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.36080426932665, + 112.772365795273, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 290.86080426932665, + 115.37044200662632, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 289.36080426932665, + 117.96851821797964, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 287.86080426932665, + 120.56659442933295, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 286.36080426932665, + 123.16467064068627, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 284.86080426932665, + 125.76274685203958, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 283.36080426932665, + 128.3608230633929, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 281.86080426932665, + 130.95889927474622, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 280.36080426932665, + 133.55697548609953, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 278.86080426932665, + 136.15505169745285, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 277.36080426932665, + 138.75312790880616, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 275.86080426932665, + 141.35120412015948, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 274.36080426932665, + 143.9492803315128, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 272.86080426932665, + 146.5473565428661, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 271.36080426932665, + 149.14543275421943, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 269.86080426932665, + 151.74350896557274, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 268.36080426932665, + 154.34158517692606, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 266.86080426932665, + 156.93966138827938, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 265.36080426932665, + 159.5377375996327, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 263.86080426932665, + 162.135813810986, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 262.36080426932665, + 164.73389002233932, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 260.86080426932665, + 167.33196623369264, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 259.36080426932665, + 169.93004244504596, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 257.86080426932665, + 172.52811865639927, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 256.36080426932665, + 175.1261948677526, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 254.86080426932665, + 177.7242710791059, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 253.36080426932665, + 180.32234729045922, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 251.86080426932665, + 182.92042350181254, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 250.36080426932665, + 185.51849971316585, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 248.86080426932665, + 188.11657592451917, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 247.36080426932665, + 190.71465213587248, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 245.86080426932665, + 193.3127283472258, + -3.1416027851817585 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 245.86080426932665, + 193.3127283472258, + -3.1416027851817585 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 245.86080426932665, + 193.3127283472258, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 247.36080426932665, + 195.91080455857912, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 248.86080426932665, + 198.50888076993243, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 250.36080426932665, + 201.10695698128575, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 251.86080426932665, + 203.70503319263906, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 253.36080426932665, + 206.30310940399238, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 254.86080426932665, + 208.9011856153457, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 256.36080426932665, + 211.499261826699, + -3.1416027851817585 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 256.36080426932665, + 211.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 258.95888048067997, + 212.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 261.5569566920333, + 214.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 264.1550329033866, + 215.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.7531091147399, + 217.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.35118532609323, + 218.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 271.94926153744655, + 220.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 274.54733774879986, + 221.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 277.1454139601532, + 223.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 279.7434901715065, + 224.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 282.3415663828598, + 226.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 284.9396425942131, + 227.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 287.53771880556644, + 229.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 290.13579501691976, + 230.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 292.7338712282731, + 232.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 295.3319474396264, + 233.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 297.9300236509797, + 235.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 300.528099862333, + 236.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 303.12617607368634, + 238.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 305.72425228503965, + 239.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 308.32232849639297, + 241.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 310.9204047077463, + 242.999261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 313.5184809190996, + 244.499261826699, + -3.1416027851817585 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 313.5184809190996, + 244.499261826699, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 315.0184809190996, + 247.09733803805233, + -3.1416027851817585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 316.5184809190996, + 249.69541424940564, + -3.1416027851817585 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-31-42_356426808/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-31-42_356426808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc78f23e9c5637843dfecab46a68f6fb5f070d04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-31-42_356426808/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 470.1965617148433, + -473.50206139277907, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 471.6965617148433, + -470.90398518142575, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 473.1965617148433, + -468.30590897007244, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 474.6965617148433, + -465.7078327587191, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 476.1965617148433, + -463.1097565473658, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 477.6965617148433, + -460.5116803360125, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 479.1965617148433, + -457.9136041246592, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 480.6965617148433, + -455.31552791330586, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 482.1965617148433, + -452.71745170195254, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.6965617148433, + -450.1193754905992, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 485.1965617148433, + -447.5212992792459, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 486.6965617148433, + -444.9232230678926, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 488.1965617148433, + -442.3251468565393, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 489.6965617148433, + -439.72707064518596, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.1965617148433, + -437.12899443383264, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 492.6965617148433, + -434.53091822247933, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 494.1965617148433, + -431.932842011126, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 495.6965617148433, + -429.3347657997727, + 2.6201897896737636 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 495.6965617148433, + -429.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 495.6965617148433, + -426.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 495.6965617148433, + -423.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 495.6965617148433, + -420.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 495.6965617148433, + -417.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 495.6965617148433, + -414.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 495.6965617148433, + -411.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 495.6965617148433, + -408.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 495.6965617148433, + -405.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 495.6965617148433, + -402.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 495.6965617148433, + -399.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 495.6965617148433, + -396.3347657997727, + 2.6201897896737636 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 495.6965617148433, + -396.3347657997727, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 494.1965617148433, + -393.7366895884194, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 492.6965617148433, + -391.13861337706606, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 491.1965617148433, + -388.54053716571275, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 489.6965617148433, + -385.94246095435943, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 488.1965617148433, + -383.3443847430061, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 486.6965617148433, + -380.7463085316528, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 485.1965617148433, + -378.1482323202995, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 483.6965617148433, + -375.55015610894617, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 482.1965617148433, + -372.95207989759285, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 480.6965617148433, + -370.35400368623954, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 479.1965617148433, + -367.7559274748862, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 477.6965617148433, + -365.1578512635329, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 476.1965617148433, + -362.5597750521796, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 474.6965617148433, + -359.9616988408263, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 473.1965617148433, + -357.36362262947296, + 2.6201897896737636 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 473.1965617148433, + -357.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 473.1965617148433, + -354.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 473.1965617148433, + -351.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 473.1965617148433, + -348.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 473.1965617148433, + -345.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 473.1965617148433, + -342.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 473.1965617148433, + -339.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 473.1965617148433, + -336.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 473.1965617148433, + -333.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 473.1965617148433, + -330.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 473.1965617148433, + -327.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 473.1965617148433, + -324.36362262947296, + 2.6201897896737636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 473.1965617148433, + -321.36362262947296, + 2.6201897896737636 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-31-7_1477171087/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-31-7_1477171087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1466c705bc52dd2e92a63dbe79b43453e4343d9f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-31-7_1477171087/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -295.2442620133037, + -92.64358685501651, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -292.64618580195037, + -94.14358685501651, + 0.5619582718147864 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -292.64618580195037, + -94.14358685501651, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -291.14618580195037, + -96.74166306636982, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -289.64618580195037, + -99.33973927772314, + 0.5619582718147864 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.64618580195037, + -99.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -287.04810959059705, + -100.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -284.45003337924373, + -102.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -281.8519571678904, + -103.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -279.2538809565371, + -105.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -276.6558047451838, + -106.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -274.05772853383047, + -108.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -271.45965232247715, + -109.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -268.86157611112384, + -111.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -266.2634998997705, + -112.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -263.6654236884172, + -114.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -261.0673474770639, + -115.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -258.4692712657106, + -117.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -255.87119505435726, + -118.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -253.27311884300394, + -120.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -250.67504263165063, + -121.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -248.0769664202973, + -123.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -245.478890208944, + -124.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -242.88081399759068, + -126.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -240.28273778623736, + -127.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -237.68466157488405, + -129.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -235.08658536353073, + -130.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -232.48850915217741, + -132.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -229.8904329408241, + -133.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -227.29235672947078, + -135.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -224.69428051811747, + -136.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -222.09620430676415, + -138.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -219.49812809541083, + -139.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -216.90005188405752, + -141.33973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -214.3019756727042, + -142.83973927772314, + 0.5619582718147864 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -214.3019756727042, + -142.83973927772314, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -212.8019756727042, + -145.43781548907646, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -211.3019756727042, + -148.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -209.8019756727042, + -150.6339679117831, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -208.3019756727042, + -153.2320441231364, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -206.8019756727042, + -155.83012033448972, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -205.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -205.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -205.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -205.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -202.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -199.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -196.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -193.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -193.3019756727042, + -158.42819654584304, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -190.7038994613509, + -156.92819654584304, + 0.5619582718147864 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -190.7038994613509, + -156.92819654584304, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -189.2038994613509, + -154.33012033448972, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -187.7038994613509, + -151.7320441231364, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -186.2038994613509, + -149.1339679117831, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -184.7038994613509, + -146.53589170042977, + 0.5619582718147864 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -184.7038994613509, + -146.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -182.10582324999757, + -145.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -179.50774703864425, + -143.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -176.90967082729094, + -142.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -174.31159461593762, + -140.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -171.7135184045843, + -139.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -169.115442193231, + -137.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -166.51736598187767, + -136.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -163.91928977052436, + -134.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -161.32121355917104, + -133.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -158.72313734781773, + -131.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -156.1250611364644, + -130.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -153.5269849251111, + -128.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -150.92890871375778, + -127.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -148.33083250240446, + -125.53589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -145.73275629105115, + -124.03589170042977, + 0.5619582718147864 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -145.73275629105115, + -124.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -142.73275629105115, + -124.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -139.73275629105115, + -124.03589170042977, + 0.5619582718147864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -136.73275629105115, + -124.03589170042977, + 0.5619582718147864 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-32-47_1889947178/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-32-47_1889947178/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..180cc3584c18ecc5dc13e2e29a7537d6910c4b2f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-32-47_1889947178/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 784.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 787.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 790.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 793.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 796.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 799.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 802.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 805.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 808.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 811.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 814.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 817.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 820.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 823.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 826.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 829.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 829.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 829.8290594465925, + -346.88547295217535, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 831.3290594465925, + -349.48354916352866, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 832.8290594465925, + -352.081625374882, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 834.3290594465925, + -354.6797015862353, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 835.8290594465925, + -357.2777777975886, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 837.3290594465925, + -359.87585400894193, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 838.8290594465925, + -362.47393022029524, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 840.3290594465925, + -365.07200643164856, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 841.8290594465925, + -367.6700826430019, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 843.3290594465925, + -370.2681588543552, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 844.8290594465925, + -372.8662350657085, + 4.446257604482277 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 844.8290594465925, + -372.8662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 847.4271356579459, + -374.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 850.0252118692993, + -375.8662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 852.6232880806526, + -377.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 855.221364292006, + -378.8662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 857.8194405033594, + -380.3662350657085, + 4.446257604482277 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 857.8194405033594, + -380.3662350657085, + 4.446257604482277 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 857.8194405033594, + -380.3662350657085, + 4.446257604482277 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 857.8194405033594, + -380.3662350657085, + 4.446257604482277 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 857.8194405033594, + -380.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 857.8194405033594, + -377.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 857.8194405033594, + -374.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 857.8194405033594, + -371.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 857.8194405033594, + -368.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 857.8194405033594, + -365.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 857.8194405033594, + -362.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 857.8194405033594, + -359.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 857.8194405033594, + -356.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 857.8194405033594, + -353.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 857.8194405033594, + -350.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 857.8194405033594, + -347.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 857.8194405033594, + -344.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 857.8194405033594, + -341.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 857.8194405033594, + -338.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 857.8194405033594, + -335.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 857.8194405033594, + -332.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 857.8194405033594, + -329.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 857.8194405033594, + -326.3662350657085, + 4.446257604482277 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 857.8194405033594, + -326.3662350657085, + 4.446257604482277 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 857.8194405033594, + -326.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 860.4175167147127, + -324.8662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 863.0155929260661, + -323.3662350657085, + 4.446257604482277 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 863.0155929260661, + -323.3662350657085, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 864.5155929260661, + -320.7681588543552, + 4.446257604482277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 866.0155929260661, + -318.1700826430019, + 4.446257604482277 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-34-20_491705403/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-34-20_491705403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9438cb2a3e0a66edade799d12e23d2b1cd375d8d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-34-20_491705403/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1058.6005612164186, + -164.71202583644532, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1057.1005612164186, + -167.31010204779864, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1055.6005612164186, + -169.90817825915195, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1054.1005612164186, + -172.50625447050527, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1052.6005612164186, + -175.10433068185858, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1051.1005612164186, + -177.7024068932119, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1049.6005612164186, + -180.30048310456522, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1048.1005612164186, + -182.89855931591853, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1046.6005612164186, + -185.49663552727185, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1045.1005612164186, + -188.09471173862516, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1043.6005612164186, + -190.69278794997848, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1042.1005612164186, + -193.2908641613318, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1040.6005612164186, + -195.8889403726851, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1039.1005612164186, + -198.48701658403843, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1037.6005612164186, + -201.08509279539174, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1036.1005612164186, + -203.68316900674506, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1034.6005612164186, + -206.28124521809838, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1033.1005612164186, + -208.8793214294517, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1031.6005612164186, + -211.477397640805, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1030.1005612164186, + -214.07547385215832, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1028.6005612164186, + -216.67355006351164, + -3.946205118152083 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1028.6005612164186, + -216.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1026.0024850050652, + -218.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1023.4044087937118, + -219.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1020.8063325823584, + -221.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1018.2082563710051, + -222.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1015.6101801596517, + -224.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1013.0121039482983, + -225.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1010.414027736945, + -227.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1007.8159515255916, + -228.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1005.2178753142382, + -230.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1002.6197991028848, + -231.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1000.0217228915315, + -233.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 997.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 997.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 997.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 997.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 997.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 997.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "turn left", + "value": 30, + "yaw": -9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 997.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1000.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1003.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1006.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1009.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1012.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1015.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1018.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1021.4236466801781, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1024.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1027.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1030.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1033.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1036.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1039.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1042.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1045.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1048.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1051.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1054.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1054.423646680178, + -234.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1057.0217228915315, + -233.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1059.6197991028848, + -231.67355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1062.2178753142382, + -230.17355006351164, + -3.946205118152083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1064.8159515255916, + -228.67355006351164, + -3.946205118152083 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-34-54_1918502651/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-34-54_1918502651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e31709effa1c98a1db436c9f06f742e498dc7906 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-34-54_1918502651/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1049.2468675188193, + -443.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1046.648791307466, + -441.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1044.0507150961125, + -440.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1041.4526388847592, + -438.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1038.8545626734058, + -437.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1036.2564864620524, + -435.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1033.658410250699, + -434.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1031.0603340393457, + -432.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1028.4622578279923, + -431.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1025.864181616639, + -429.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1023.2661054052855, + -428.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1020.6680291939322, + -426.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1018.0699529825788, + -425.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1015.4718767712254, + -423.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1012.873800559872, + -422.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1010.2757243485187, + -420.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1007.6776481371653, + -419.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1005.0795719258119, + -417.58327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1002.4814957144586, + -416.08327740794095, + 1.9749762248473939 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1002.4814957144586, + -416.08327740794095, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1000.9814957144586, + -413.48520119658764, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 999.4814957144586, + -410.8871249852343, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 997.9814957144586, + -408.289048773881, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 996.4814957144586, + -405.6909725625277, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 994.9814957144586, + -403.0928963511744, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 993.4814957144586, + -400.49482013982106, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 991.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 991.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 991.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 991.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 988.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 985.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 982.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 979.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 976.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 973.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 970.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 967.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 964.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 961.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 958.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 955.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 952.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 949.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 946.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 943.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 940.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 937.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 934.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 931.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 928.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 925.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 922.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 919.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 916.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 913.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 910.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 907.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 907.9814957144586, + -397.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 905.3834195031052, + -396.39674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 902.7853432917518, + -394.89674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 900.1872670803984, + -393.39674392846774, + 1.9749762248473939 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 897.5891908690451, + -391.89674392846774, + 1.9749762248473939 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-36-15_1474612399/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-36-15_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14e07b0254195c8f78625afd2f02c2bae98c2c3f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-36-15_1474612399/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 146.98806302930913, + -150.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 146.98806302930913, + -153.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 146.98806302930913, + -156.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 146.98806302930913, + -159.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 146.98806302930913, + -162.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 146.98806302930913, + -165.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 146.98806302930913, + -168.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 146.98806302930913, + -171.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 146.98806302930913, + -174.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 146.98806302930913, + -177.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 146.98806302930913, + -180.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 146.98806302930913, + -183.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 146.98806302930913, + -186.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 146.98806302930913, + -189.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 146.98806302930913, + -192.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 146.98806302930913, + -195.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 146.98806302930913, + -198.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 146.98806302930913, + -201.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 146.98806302930913, + -204.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 146.98806302930913, + -207.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 146.98806302930913, + -210.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 146.98806302930913, + -213.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 146.98806302930913, + -216.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 146.98806302930913, + -219.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 146.98806302930913, + -222.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 146.98806302930913, + -225.03383322728723, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 146.98806302930913, + -225.03383322728723, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 148.48806302930913, + -227.63190943864055, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 149.98806302930913, + -230.22998564999386, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 151.48806302930913, + -232.82806186134718, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 152.98806302930913, + -235.4261380727005, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 154.48806302930913, + -238.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 155.98806302930913, + -240.62229049540713, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 157.48806302930913, + -243.22036670676044, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 158.98806302930913, + -245.81844291811376, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 160.48806302930913, + -248.41651912946708, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 161.98806302930913, + -251.0145953408204, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 163.48806302930913, + -253.6126715521737, + 3.044952104388173 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 163.48806302930913, + -253.6126715521737, + 3.044952104388173 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 163.48806302930913, + -253.6126715521737, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 161.98806302930913, + -256.210747763527, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 161.98806302930913, + -256.210747763527, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794897 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 161.98806302930913, + -256.210747763527, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": -1.047197551196598 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 161.98806302930913, + -256.210747763527, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 161.98806302930913, + -256.210747763527, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 161.98806302930913, + -256.210747763527, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982983 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 161.98806302930913, + -256.210747763527, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 164.58613924066245, + -254.71074776352702, + 3.044952104388173 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 164.58613924066245, + -254.71074776352702, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 166.08613924066245, + -252.1126715521737, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 167.58613924066245, + -249.5145953408204, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 169.08613924066245, + -246.91651912946708, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 170.58613924066245, + -244.31844291811376, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 172.08613924066245, + -241.72036670676044, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 173.58613924066245, + -239.12229049540713, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 175.08613924066245, + -236.5242142840538, + 3.044952104388173 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 175.08613924066245, + -236.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 177.68421545201576, + -235.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 180.28229166336908, + -233.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 182.8803678747224, + -232.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 185.4784440860757, + -230.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 188.07652029742903, + -229.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 190.67459650878234, + -227.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 193.27267272013566, + -226.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 195.87074893148898, + -224.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 198.4688251428423, + -223.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 201.0669013541956, + -221.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 203.66497756554892, + -220.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 206.26305377690224, + -218.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 208.86112998825556, + -217.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 211.45920619960887, + -215.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 214.0572824109622, + -214.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 216.6553586223155, + -212.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 219.25343483366882, + -211.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 221.85151104502214, + -209.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 224.44958725637545, + -208.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 227.04766346772877, + -206.5242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 229.64573967908208, + -205.0242142840538, + 3.044952104388173 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 229.64573967908208, + -205.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 232.64573967908208, + -205.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 235.64573967908208, + -205.0242142840538, + 3.044952104388173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 238.64573967908208, + -205.0242142840538, + 3.044952104388173 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-37-30_1264095060/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-37-30_1264095060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59e92c6f282115934646bfb344cf0adf5c52507c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-37-30_1264095060/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 407.8892168353957, + -145.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 407.8892168353957, + -148.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 407.8892168353957, + -151.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 407.8892168353957, + -154.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 407.8892168353957, + -157.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 407.8892168353957, + -160.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 407.8892168353957, + -163.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 407.8892168353957, + -166.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 407.8892168353957, + -169.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 407.8892168353957, + -172.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 407.8892168353957, + -175.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 407.8892168353957, + -178.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 407.8892168353957, + -181.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 407.8892168353957, + -184.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 407.8892168353957, + -187.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 407.8892168353957, + -190.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 407.8892168353957, + -193.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 407.8892168353957, + -196.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 407.8892168353957, + -199.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 407.8892168353957, + -202.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 407.8892168353957, + -205.55967275136265, + 1.3815205827190606 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 407.8892168353957, + -205.55967275136265, + 1.3815205827190606 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 407.8892168353957, + -205.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 410.487293046749, + -207.05967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 413.08536925810233, + -208.55967275136265, + 1.3815205827190606 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 413.08536925810233, + -208.55967275136265, + 1.3815205827190606 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 413.08536925810233, + -208.55967275136265, + 1.3815205827190606 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 413.08536925810233, + -208.55967275136265, + 1.3815205827190606 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 413.08536925810233, + -208.55967275136265, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 411.58536925810233, + -211.15774896271597, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 410.08536925810233, + -213.7558251740693, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 408.58536925810233, + -216.3539013854226, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 407.08536925810233, + -218.95197759677592, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 405.58536925810233, + -221.55005380812923, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 404.08536925810233, + -224.14813001948255, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 402.58536925810233, + -226.74620623083587, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 401.08536925810233, + -229.34428244218918, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 399.58536925810233, + -231.9423586535425, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 398.08536925810233, + -234.54043486489581, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 396.58536925810233, + -237.13851107624913, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 395.08536925810233, + -239.73658728760245, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 393.58536925810233, + -242.33466349895576, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 392.08536925810233, + -244.93273971030908, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 390.58536925810233, + -247.5308159216624, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 389.08536925810233, + -250.1288921330157, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 387.58536925810233, + -252.72696834436903, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 386.08536925810233, + -255.32504455572234, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 384.58536925810233, + -257.92312076707566, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 383.08536925810233, + -260.521196978429, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 381.58536925810233, + -263.1192731897823, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 380.08536925810233, + -265.7173494011356, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 378.58536925810233, + -268.3154256124889, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 377.08536925810233, + -270.91350182384224, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 375.58536925810233, + -273.51157803519556, + 1.3815205827190606 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 375.58536925810233, + -273.51157803519556, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 372.987293046749, + -275.01157803519556, + 1.3815205827190606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 370.3892168353957, + -276.51157803519556, + 1.3815205827190606 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-39-11_943947739/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-39-11_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8d9a9cf3463f656023042e7b1967788db5c1f0b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-39-11_943947739/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 300.4377850163594, + 331.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 300.4377850163594, + 328.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 300.4377850163594, + 325.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 300.4377850163594, + 322.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 300.4377850163594, + 319.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 300.4377850163594, + 316.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 300.4377850163594, + 313.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 300.4377850163594, + 310.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.4377850163594, + 307.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 300.4377850163594, + 304.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.4377850163594, + 301.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 300.4377850163594, + 298.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 300.4377850163594, + 295.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 300.4377850163594, + 292.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 300.4377850163594, + 289.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 300.4377850163594, + 286.7817120635245, + 3.8100071951469445 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 300.4377850163594, + 286.7817120635245, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 301.9377850163594, + 284.18363585217116, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 303.4377850163594, + 281.58555964081785, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 304.9377850163594, + 278.98748342946453, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 306.4377850163594, + 276.3894072181112, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 307.9377850163594, + 273.7913310067579, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 309.4377850163594, + 271.1932547954046, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.9377850163594, + 268.59517858405127, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 312.4377850163594, + 265.99710237269795, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 313.9377850163594, + 263.39902616134464, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 315.4377850163594, + 260.8009499499913, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 316.9377850163594, + 258.202873738638, + 3.8100071951469445 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 316.9377850163594, + 258.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 316.9377850163594, + 255.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 316.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 316.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 316.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 316.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 316.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 319.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 322.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 325.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 328.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 331.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 334.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 337.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 340.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 343.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 346.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 349.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 352.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 355.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 358.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 361.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 364.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 367.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 370.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 373.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 376.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 379.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 382.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 385.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 385.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 385.9377850163594, + 252.202873738638, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 387.4377850163594, + 249.6047975272847, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 388.9377850163594, + 247.00672131593137, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 390.4377850163594, + 244.40864510457806, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 391.9377850163594, + 241.81056889322474, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 393.4377850163594, + 239.21249268187142, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 394.9377850163594, + 236.6144164705181, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 396.4377850163594, + 234.0163402591648, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 397.9377850163594, + 231.41826404781148, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 399.4377850163594, + 228.82018783645816, + 3.8100071951469445 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 399.4377850163594, + 228.82018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 402.0358612277127, + 227.32018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 404.633937439066, + 225.82018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 407.23201365041933, + 224.32018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 409.83008986177265, + 222.82018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 412.42816607312596, + 221.32018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 415.0262422844793, + 219.82018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 417.6243184958326, + 218.32018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 420.2223947071859, + 216.82018783645816, + 3.8100071951469445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 422.82047091853923, + 215.32018783645816, + 3.8100071951469445 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-39-46_1984210012/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-39-46_1984210012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f288b6b62a3c3585ede76f37534e3e907117470 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-39-46_1984210012/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1023.6138781193986, + -301.0866446121927, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1022.1138781193986, + -303.684720823546, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1020.6138781193986, + -306.2827970348993, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1019.1138781193986, + -308.88087324625263, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1017.6138781193986, + -311.47894945760595, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1016.1138781193986, + -314.07702566895927, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1014.6138781193986, + -316.6751018803126, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1013.1138781193986, + -319.2731780916659, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1011.6138781193986, + -321.8712543030192, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1010.1138781193986, + -324.46933051437253, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1008.6138781193986, + -327.06740672572585, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1007.1138781193986, + -329.66548293707916, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1005.6138781193986, + -332.2635591484325, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1004.1138781193986, + -334.8616353597858, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1002.6138781193986, + -337.4597115711391, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1001.1138781193986, + -340.0577877824924, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 999.6138781193986, + -342.65586399384574, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 998.1138781193986, + -345.25394020519906, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 996.6138781193986, + -347.8520164165524, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 995.1138781193986, + -350.4500926279057, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 993.6138781193986, + -353.048168839259, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 992.1138781193986, + -355.6462450506123, + 2.7123371225017143 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 992.1138781193986, + -355.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 989.5158019080452, + -357.1462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 986.9177256966918, + -358.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 984.3196494853385, + -360.1462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 981.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 981.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 981.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 981.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 981.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 981.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "turn left", + "value": 30, + "yaw": -9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 981.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 978.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 975.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 972.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 969.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 966.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 963.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 960.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 957.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 954.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 951.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 948.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 948.7215732739851, + -361.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 946.1234970626317, + -363.1462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 943.5254208512783, + -364.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 940.927344639925, + -366.1462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 938.3292684285716, + -367.6462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 935.7311922172182, + -369.1462450506123, + 2.7123371225017143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 933.1331160058648, + -370.6462450506123, + 2.7123371225017143 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-42-54_463480570/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-42-54_463480570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd348d45323f7a0914e5f8e606b681be09e3859f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-42-54_463480570/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -59.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -53.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -50.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -44.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -41.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -38.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -35.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -32.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -29.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -26.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -23.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -20.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -17.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -14.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -11.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -8.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -5.020833493255466, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2.0208334932554664, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 0.9791665067445336, + 28.627093305209904, + -4.035318946762477 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 0.9791665067445336, + 28.627093305209904, + -4.035318946762477 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 0.9791665067445336, + 28.627093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2.479166506744534, + 26.029017093856588, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3.9791665067445345, + 23.430940882503272, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 5.479166506744535, + 20.832864671149956, + -4.035318946762477 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 5.479166506744535, + 20.832864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 8.077242718097851, + 19.332864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 10.675318929451167, + 17.832864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 13.273395140804483, + 16.332864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 15.8714713521578, + 14.832864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 18.469547563511114, + 13.332864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 21.06762377486443, + 11.832864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 23.665699986217746, + 10.332864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 26.26377619757106, + 8.832864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 28.861852408924378, + 7.332864671149956, + -4.035318946762477 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 28.861852408924378, + 7.332864671149956, + -4.035318946762477 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 28.861852408924378, + 7.332864671149956, + -4.035318946762477 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 28.861852408924378, + 7.332864671149956, + -4.035318946762477 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 28.861852408924378, + 7.332864671149956, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 30.361852408924378, + 9.930940882503272, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 31.861852408924378, + 12.529017093856588, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 33.36185240892438, + 15.127093305209904, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 34.86185240892438, + 17.72516951656322, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 36.36185240892438, + 20.323245727916536, + -4.035318946762477 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 36.36185240892438, + 20.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 38.959928620277694, + 21.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 41.55800483163101, + 23.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 44.156081042984326, + 24.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 46.75415725433764, + 26.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 49.35223346569096, + 27.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 51.950309677044274, + 29.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 54.54838588839759, + 30.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 57.146462099750906, + 32.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 59.74453831110422, + 33.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 62.34261452245754, + 35.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 64.94069073381085, + 36.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 67.53876694516417, + 38.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 70.13684315651749, + 39.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 72.7349193678708, + 41.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 75.33299557922412, + 42.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 77.93107179057743, + 44.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 80.52914800193075, + 45.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 83.12722421328407, + 47.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 85.72530042463738, + 48.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 88.3233766359907, + 50.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 90.92145284734401, + 51.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 93.51952905869733, + 53.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 96.11760527005065, + 54.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 98.71568148140396, + 56.323245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 101.31375769275728, + 57.823245727916536, + -4.035318946762477 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 101.31375769275728, + 57.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 104.31375769275728, + 57.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 107.31375769275728, + 57.823245727916536, + -4.035318946762477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 110.31375769275728, + 57.823245727916536, + -4.035318946762477 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-45-9_1892066601/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-45-9_1892066601/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ebee90e606bbe7caf1e1a73d20aaa01151da120 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-45-9_1892066601/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 430.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 427.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 424.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 421.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 418.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 415.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 412.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 409.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 406.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 403.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 400.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 397.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 394.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 391.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 388.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 385.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 382.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 379.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 376.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 373.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 370.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 367.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 364.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 361.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 358.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 355.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 352.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 349.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 346.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 343.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 340.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 337.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 334.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 331.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 331.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 331.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 331.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 331.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 331.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 331.40301434977493, + -135.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 328.8049381384216, + -137.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 326.2068619270683, + -138.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 323.608785715715, + -140.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 321.01070950436167, + -141.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 318.41263329300835, + -143.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 315.81455708165504, + -144.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 313.2164808703017, + -146.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 310.6184046589484, + -147.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 308.0203284475951, + -149.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 305.4222522362418, + -150.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 302.82417602488846, + -152.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 300.22609981353514, + -153.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 297.6280236021818, + -155.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 295.0299473908285, + -156.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 292.4318711794752, + -158.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 289.8337949681219, + -159.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 287.23571875676856, + -161.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 284.63764254541525, + -162.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 282.03956633406193, + -164.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 279.4414901227086, + -165.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 276.8434139113553, + -167.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 274.245337700002, + -168.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 271.64726148864867, + -170.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 269.04918527729535, + -171.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 266.45110906594203, + -173.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 263.8530328545887, + -174.50742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 261.2549566432354, + -176.00742774950342, + 2.308137058006169 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 261.2549566432354, + -176.00742774950342, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 259.7549566432354, + -178.60550396085674, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 258.2549566432354, + -181.20358017221005, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 256.7549566432354, + -183.80165638356337, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 255.2549566432354, + -186.39973259491669, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 253.7549566432354, + -188.99780880627, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 252.2549566432354, + -191.59588501762332, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 250.7549566432354, + -194.19396122897663, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 249.2549566432354, + -196.79203744032995, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 247.7549566432354, + -199.39011365168327, + 2.308137058006169 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 247.7549566432354, + -199.39011365168327, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 245.1568804318821, + -200.89011365168327, + 2.308137058006169 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 242.55880422052877, + -202.39011365168327, + 2.308137058006169 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-46-55_1330573317/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-46-55_1330573317/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83367293d1b5c621bd2f662a263f46490df4996e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-46-55_1330573317/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -103.65245664294375, + -298.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -101.05438043159043, + -300.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -98.45630422023712, + -301.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -95.8582280088838, + -303.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -93.26015179753048, + -304.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -90.66207558617717, + -306.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -88.06399937482385, + -307.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -85.46592316347053, + -309.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -82.86784695211722, + -310.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -80.2697707407639, + -312.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.67169452941059, + -313.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -75.07361831805727, + -315.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -72.47554210670395, + -316.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -69.87746589535064, + -318.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -67.27938968399732, + -319.7111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -64.681313472644, + -321.2111327802101, + -2.5048808142580468 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -64.681313472644, + -321.2111327802101, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -63.18131347264401, + -323.8092089915634, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -61.68131347264401, + -326.40728520291674, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -60.18131347264401, + -329.00536141427006, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -58.68131347264401, + -331.60343762562337, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -57.18131347264401, + -334.2015138369767, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -55.68131347264401, + -336.79959004833, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -54.18131347264401, + -339.3976662596833, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -52.68131347264401, + -341.99574247103664, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -51.18131347264401, + -344.59381868238995, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -49.68131347264401, + -347.19189489374327, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -48.18131347264401, + -349.7899711050966, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -46.68131347264401, + -352.3880473164499, + -2.5048808142580468 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -46.68131347264401, + -352.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -44.08323726129069, + -353.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -41.485161049937375, + -355.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -38.88708483858406, + -356.8880473164499, + -2.5048808142580468 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -38.88708483858406, + -356.8880473164499, + -2.5048808142580468 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -38.88708483858406, + -356.8880473164499, + -2.5048808142580468 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -38.88708483858406, + -356.8880473164499, + -2.5048808142580468 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -38.88708483858406, + -356.8880473164499, + -2.5048808142580468 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -38.88708483858406, + -356.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -41.485161049937375, + -358.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -44.08323726129069, + -359.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -46.68131347264401, + -361.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -49.27938968399732, + -362.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -51.87746589535064, + -364.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -54.475542106703955, + -365.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -57.07361831805727, + -367.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -59.67169452941059, + -368.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -62.2697707407639, + -370.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -64.86784695211722, + -371.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -67.46592316347053, + -373.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -70.06399937482385, + -374.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -72.66207558617717, + -376.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -75.26015179753048, + -377.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -77.8582280088838, + -379.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -80.45630422023712, + -380.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -83.05438043159043, + -382.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -85.65245664294375, + -383.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -88.25053285429706, + -385.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -90.84860906565038, + -386.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -93.4466852770037, + -388.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -96.04476148835701, + -389.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -98.64283769971033, + -391.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -101.24091391106364, + -392.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -103.83899012241696, + -394.3880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -106.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -106.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -109.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -112.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -115.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -118.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -121.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -124.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -127.43706633377028, + -395.8880473164499, + -2.5048808142580468 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-48-36_660260756/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-48-36_660260756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc299c883634b06d35bc36ae936cd3032ba304dd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-48-36_660260756/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1600.663407343182, + -196.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1600.663407343182, + -193.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1600.663407343182, + -190.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1600.663407343182, + -187.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1600.663407343182, + -184.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1600.663407343182, + -181.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1600.663407343182, + -178.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1600.663407343182, + -175.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1600.663407343182, + -172.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1600.663407343182, + -169.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1600.663407343182, + -166.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1600.663407343182, + -163.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1600.663407343182, + -160.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1600.663407343182, + -157.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1600.663407343182, + -154.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1600.663407343182, + -151.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1600.663407343182, + -148.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1600.663407343182, + -145.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1600.663407343182, + -142.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1600.663407343182, + -139.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1600.663407343182, + -136.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1600.663407343182, + -133.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1600.663407343182, + -130.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1600.663407343182, + -127.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1600.663407343182, + -124.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1600.663407343182, + -121.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1600.663407343182, + -118.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1600.663407343182, + -115.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1600.663407343182, + -112.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1600.663407343182, + -109.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1600.663407343182, + -106.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1600.663407343182, + -103.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1600.663407343182, + -100.83354347373074, + 4.250290986027881 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1600.663407343182, + -100.83354347373074, + 4.250290986027881 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1600.663407343182, + -100.83354347373074, + 4.250290986027881 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1600.663407343182, + -100.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1598.0653311318285, + -99.33354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1595.4672549204752, + -97.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1592.8691787091218, + -96.33354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1590.2711024977684, + -94.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1587.673026286415, + -93.33354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1585.0749500750617, + -91.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1582.4768738637083, + -90.33354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1579.878797652355, + -88.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1577.2807214410016, + -87.33354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1574.6826452296482, + -85.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1572.0845690182948, + -84.33354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1569.4864928069414, + -82.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1566.888416595588, + -81.33354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1564.2903403842347, + -79.83354347373074, + 4.250290986027881 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1564.2903403842347, + -79.83354347373074, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1562.7903403842347, + -77.23546726237743, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1561.2903403842347, + -74.63739105102411, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1559.7903403842347, + -72.0393148396708, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1558.2903403842347, + -69.44123862831748, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1556.7903403842347, + -66.84316241696416, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1555.2903403842347, + -64.24508620561085, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1553.7903403842347, + -61.64700999425753, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1552.2903403842347, + -59.048933782904214, + 4.250290986027881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1550.7903403842347, + -56.4508575715509, + 4.250290986027881 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-5-19_1125898167/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-5-19_1125898167/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ebff706685b8c350db3f4dceb1d2c88d76e6d86 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-5-19_1125898167/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 443.6148173183699, + 105.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 443.6148173183699, + 108.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 443.6148173183699, + 111.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 443.6148173183699, + 114.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 443.6148173183699, + 117.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 443.6148173183699, + 120.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 443.6148173183699, + 123.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 443.6148173183699, + 126.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 443.6148173183699, + 129.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 443.6148173183699, + 132.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 443.6148173183699, + 135.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 443.6148173183699, + 138.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 443.6148173183699, + 141.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 443.6148173183699, + 144.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 443.6148173183699, + 147.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 443.6148173183699, + 150.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 443.6148173183699, + 153.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 443.6148173183699, + 156.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 443.6148173183699, + 159.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 443.6148173183699, + 162.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 443.6148173183699, + 165.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 443.6148173183699, + 168.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 443.6148173183699, + 171.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 443.6148173183699, + 174.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 443.6148173183699, + 177.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 443.6148173183699, + 180.23727662193525, + 4.765804314044152 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 443.6148173183699, + 180.23727662193525, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 442.1148173183699, + 182.83535283328857, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 440.6148173183699, + 185.43342904464188, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 439.1148173183699, + 188.0315052559952, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 437.6148173183699, + 190.62958146734852, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 436.1148173183699, + 193.22765767870183, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 434.6148173183699, + 195.82573389005515, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 433.1148173183699, + 198.42381010140846, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 431.6148173183699, + 201.02188631276178, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 430.1148173183699, + 203.6199625241151, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 428.6148173183699, + 206.2180387354684, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 427.1148173183699, + 208.81611494682173, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 425.6148173183699, + 211.41419115817504, + 4.765804314044152 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 425.6148173183699, + 211.41419115817504, + 4.765804314044152 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 425.6148173183699, + 211.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 423.01674110701657, + 212.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 420.41866489566326, + 214.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 417.82058868430994, + 215.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 415.2225124729566, + 217.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 412.6244362616033, + 218.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 410.02636005025, + 220.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 407.4282838388967, + 221.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 404.83020762754336, + 223.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 402.23213141619004, + 224.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 399.6340552048367, + 226.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 397.0359789934834, + 227.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 394.4379027821301, + 229.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 391.8398265707768, + 230.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 389.24175035942346, + 232.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 386.64367414807015, + 233.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 384.04559793671683, + 235.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 381.4475217253635, + 236.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 378.8494455140102, + 238.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 376.2513693026569, + 239.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 373.65329309130357, + 241.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 371.05521687995025, + 242.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 368.45714066859694, + 244.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 365.8590644572436, + 245.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 363.2609882458903, + 247.41419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 360.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 360.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 357.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 354.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 351.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 348.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 345.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 342.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 339.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 336.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 333.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 330.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 327.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 324.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 321.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 318.662912034537, + 248.91419115817504, + 4.765804314044152 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-53-50_221558440/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-53-50_221558440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ead5ee312eb6ff01e3fc3bbe04ebdf8f2645c1c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-53-50_221558440/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -362.7791112324071, + -114.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -359.7791112324071, + -114.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -356.7791112324071, + -114.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -353.7791112324071, + -114.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -350.7791112324071, + -114.38653547482826, + -1.758667309480309 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -350.7791112324071, + -114.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -348.1810350210538, + -112.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -345.5829588097005, + -111.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -342.98488259834716, + -109.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -340.38680638699384, + -108.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -337.7887301756405, + -106.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -335.1906539642872, + -105.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -332.5925777529339, + -103.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -329.9945015415806, + -102.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -327.39642533022726, + -100.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -324.79834911887394, + -99.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -322.2002729075206, + -97.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -319.6021966961673, + -96.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -317.004120484814, + -94.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -314.4060442734607, + -93.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -311.80796806210736, + -91.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -309.20989185075405, + -90.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -306.61181563940073, + -88.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -304.0137394280474, + -87.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -301.4156632166941, + -85.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -298.8175870053408, + -84.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -296.21951079398747, + -82.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -293.62143458263415, + -81.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -291.02335837128084, + -79.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -288.4252821599275, + -78.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -285.8272059485742, + -76.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -283.2291297372209, + -75.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -280.63105352586757, + -73.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -278.03297731451426, + -72.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -275.43490110316094, + -70.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -272.8368248918076, + -69.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -270.2387486804543, + -67.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -267.640672469101, + -66.38653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -265.0425962577477, + -64.88653547482826, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -262.44452004639436, + -63.386535474828264, + -1.758667309480309 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -262.44452004639436, + -63.386535474828264, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -259.44452004639436, + -63.386535474828264, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -256.44452004639436, + -63.386535474828264, + -1.758667309480309 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -256.44452004639436, + -63.386535474828264, + -1.758667309480309 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -256.44452004639436, + -63.386535474828264, + -1.758667309480309 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -256.44452004639436, + -63.386535474828264, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -254.94452004639436, + -65.98461168618158, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -253.44452004639436, + -68.5826878975349, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -251.94452004639436, + -71.18076410888821, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -250.44452004639436, + -73.77884032024153, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -248.94452004639436, + -76.37691653159484, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -247.44452004639436, + -78.97499274294816, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -245.94452004639436, + -81.57306895430148, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -244.44452004639436, + -84.17114516565479, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -242.94452004639436, + -86.76922137700811, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -241.44452004639436, + -89.36729758836142, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -239.94452004639436, + -91.96537379971474, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -238.44452004639436, + -94.56345001106806, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -236.94452004639436, + -97.16152622242137, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -235.44452004639436, + -99.75960243377469, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -233.94452004639436, + -102.357678645128, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -232.44452004639436, + -104.95575485648132, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -230.94452004639436, + -107.55383106783464, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -229.44452004639436, + -110.15190727918795, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -227.94452004639436, + -112.74998349054127, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -226.44452004639436, + -115.34805970189458, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -224.94452004639436, + -117.9461359132479, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -223.44452004639436, + -120.54421212460122, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -221.94452004639436, + -123.14228833595453, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -220.44452004639436, + -125.74036454730785, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -218.94452004639436, + -128.33844075866116, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -217.44452004639436, + -130.93651697001448, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -215.94452004639436, + -133.5345931813678, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -214.44452004639436, + -136.1326693927211, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -212.94452004639436, + -138.73074560407443, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -211.44452004639436, + -141.32882181542774, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -209.94452004639436, + -143.92689802678106, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -208.44452004639436, + -146.52497423813438, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -206.94452004639436, + -149.1230504494877, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -205.44452004639436, + -151.721126660841, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -203.94452004639436, + -154.31920287219432, + -1.758667309480309 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -202.44452004639436, + -156.91727908354764, + -1.758667309480309 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-56-11_2114738097/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-56-11_2114738097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d06878107f94518d57b366d760e3b03eb4bc5639 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-56-11_2114738097/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 855.9616996725902, + -309.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 855.9616996725902, + -312.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 855.9616996725902, + -315.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 855.9616996725902, + -318.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 855.9616996725902, + -321.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 855.9616996725902, + -324.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 855.9616996725902, + -327.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 855.9616996725902, + -330.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 855.9616996725902, + -333.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 855.9616996725902, + -336.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 855.9616996725902, + -339.0929373350825, + -2.0404674967635543 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 855.9616996725902, + -339.0929373350825, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 857.4616996725902, + -341.69101354643584, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 858.9616996725902, + -344.28908975778916, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 860.4616996725902, + -346.8871659691425, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 861.9616996725902, + -349.4852421804958, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 863.4616996725902, + -352.0833183918491, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 864.9616996725902, + -354.6813946032024, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 866.4616996725902, + -357.27947081455574, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 867.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 867.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 867.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 867.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 870.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 873.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 876.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 879.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 882.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 885.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 888.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 891.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 894.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 897.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 900.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 903.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 906.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 909.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 912.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 915.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 918.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 921.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 924.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 927.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 930.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 933.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 936.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 939.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 942.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 945.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 948.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 948.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 948.9616996725902, + -359.87754702590905, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 950.4616996725902, + -362.47562323726237, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 951.9616996725902, + -365.0736994486157, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 953.4616996725902, + -367.671775659969, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 954.9616996725902, + -370.2698518713223, + -2.0404674967635543 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 956.4616996725902, + -372.86792808267563, + -2.0404674967635543 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-57-14_1469834481/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-57-14_1469834481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03cf395b3486071eaa8798506407092972055454 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-57-14_1469834481/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 499.537990973277, + -203.17532722401563, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 498.037990973277, + -205.77340343536895, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 496.537990973277, + -208.37147964672226, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 495.037990973277, + -210.96955585807558, + -4.2563473120191935 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 495.037990973277, + -210.96955585807558, + -4.2563473120191935 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 495.037990973277, + -210.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 492.43991476192366, + -212.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 489.84183855057034, + -213.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 487.243762339217, + -215.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 484.6456861278637, + -216.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 482.0476099165104, + -218.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 479.4495337051571, + -219.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 476.85145749380376, + -221.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 474.25338128245045, + -222.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 471.65530507109713, + -224.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 469.0572288597438, + -225.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 466.4591526483905, + -227.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 463.8610764370372, + -228.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 461.26300022568387, + -230.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 458.66492401433055, + -231.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 456.06684780297724, + -233.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 453.4687715916239, + -234.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 450.8706953802706, + -236.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 448.2726191689173, + -237.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 445.674542957564, + -239.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 443.07646674621066, + -240.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 440.47839053485734, + -242.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 437.880314323504, + -243.96955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 435.2822381121507, + -245.46955585807558, + -4.2563473120191935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 432.6841619007974, + -246.96955585807558, + -4.2563473120191935 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-57-33_822890675/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-57-33_822890675/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b3132a8106e708240b143cfb44bc773d288a7dd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-57-33_822890675/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 238.50010818395089, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 241.50010818395089, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 244.50010818395089, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 247.50010818395089, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 250.50010818395089, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 253.50010818395089, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 256.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 259.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 262.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 268.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 271.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 274.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 277.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 280.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 283.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 286.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 289.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 289.5001081839509, + -142.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 292.0981843953042, + -141.4093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 294.6962606066575, + -139.9093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 297.29433681801083, + -138.4093392830875, + 1.4219353709941451 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.29433681801083, + -138.4093392830875, + 1.4219353709941451 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.29433681801083, + -138.4093392830875, + 1.4219353709941451 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.29433681801083, + -138.4093392830875, + 1.4219353709941451 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.29433681801083, + -138.4093392830875, + 1.4219353709941451 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 297.29433681801083, + -138.4093392830875, + 1.4219353709941451 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 297.29433681801083, + -138.4093392830875, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 295.79433681801083, + -141.0074154944408, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 294.29433681801083, + -143.60549170579412, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 292.79433681801083, + -146.20356791714744, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 291.29433681801083, + -148.80164412850075, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 289.79433681801083, + -151.39972033985407, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 288.29433681801083, + -153.9977965512074, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 286.79433681801083, + -156.5958727625607, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 285.29433681801083, + -159.19394897391402, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 283.79433681801083, + -161.79202518526733, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 282.29433681801083, + -164.39010139662065, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 280.79433681801083, + -166.98817760797397, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 279.29433681801083, + -169.58625381932728, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 277.79433681801083, + -172.1843300306806, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 276.29433681801083, + -174.78240624203391, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 274.79433681801083, + -177.38048245338723, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 273.29433681801083, + -179.97855866474055, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 271.79433681801083, + -182.57663487609386, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 270.29433681801083, + -185.17471108744718, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 268.79433681801083, + -187.7727872988005, + 1.4219353709941451 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 268.79433681801083, + -187.7727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 266.1962606066575, + -189.2727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 263.5981843953042, + -190.7727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 261.0001081839509, + -192.2727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 258.40203197259757, + -193.7727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 255.80395576124425, + -195.2727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 253.20587954989094, + -196.7727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 250.60780333853762, + -198.2727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 248.0097271271843, + -199.7727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 245.411650915831, + -201.2727872988005, + 1.4219353709941451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 242.81357470447767, + -202.7727872988005, + 1.4219353709941451 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-58-29_791698927/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-58-29_791698927/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff5cb05d6e1c7a74d1401ff017c906bebf0ff084 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-58-29_791698927/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -100.83063308117244, + -681.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -98.23255686981912, + -682.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -95.6344806584658, + -684.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -93.03640444711249, + -685.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -90.43832823575917, + -687.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -87.84025202440586, + -688.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.24217581305254, + -690.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -82.64409960169922, + -691.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -80.04602339034591, + -693.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -77.44794717899259, + -694.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -74.84987096763928, + -696.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -72.25179475628596, + -697.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -69.65371854493264, + -699.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -67.05564233357933, + -700.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -64.45756612222601, + -702.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -61.859489910872696, + -703.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -59.26141369951938, + -705.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -56.663337488166064, + -706.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -54.06526127681275, + -708.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -51.46718506545943, + -709.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -48.869108854106116, + -711.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -46.2710326427528, + -712.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -43.672956431399484, + -714.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -41.07488022004617, + -715.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -38.47680400869285, + -717.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -35.878727797339536, + -718.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -33.28065158598622, + -720.1428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -30.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -30.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -33.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -36.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -39.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -42.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -45.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -48.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -51.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -57.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -60.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -63.682575374632904, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -66.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -69.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -72.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -75.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -78.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -81.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -84.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -87.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -90.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -93.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -96.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -99.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -102.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -105.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -108.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -111.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -114.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -117.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -120.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -120.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -120.6825753746329, + -721.6428973405723, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -122.1825753746329, + -724.2409735519257, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -123.6825753746329, + -726.839049763279, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -125.1825753746329, + -729.4371259746324, + -4.224667550198442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -126.6825753746329, + -732.0352021859858, + -4.224667550198442 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-59-0_631704567/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-59-0_631704567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccd0520b26088089c0d0aed4d320f03098453165 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-59-0_631704567/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 248.7251499405266, + 43.700503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 246.12707372917328, + 45.200503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 243.52899751781996, + 46.700503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 240.93092130646664, + 48.200503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 238.33284509511333, + 49.700503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 235.73476888376, + 51.200503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 233.1366926724067, + 52.700503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 230.53861646105338, + 54.200503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 227.94054024970006, + 55.700503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 225.34246403834675, + 57.200503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 222.74438782699343, + 58.700503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 220.14631161564012, + 60.200503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 217.5482354042868, + 61.700503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 214.95015919293348, + 63.200503926911786, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 212.35208298158017, + 64.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 209.75400677022685, + 66.20050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 207.15593055887354, + 67.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 204.55785434752022, + 69.20050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 201.9597781361669, + 70.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 199.3617019248136, + 72.20050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 196.76362571346027, + 73.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 194.16554950210696, + 75.20050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 191.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 191.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 188.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 185.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 182.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 179.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 176.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 173.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 170.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 167.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 164.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 161.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 158.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 158.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 158.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 158.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 158.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 158.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 158.56747329075364, + 76.70050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 161.16554950210696, + 78.20050392691178, + -2.55337351429786 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 161.16554950210696, + 78.20050392691178, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 162.66554950210696, + 80.7985801382651, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 164.16554950210696, + 83.39665634961841, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 165.66554950210696, + 85.99473256097173, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 167.16554950210696, + 88.59280877232504, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 168.66554950210696, + 91.19088498367836, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 170.16554950210696, + 93.78896119503167, + -2.55337351429786 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 170.16554950210696, + 93.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 172.76362571346027, + 95.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 175.3617019248136, + 96.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 177.9597781361669, + 98.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 180.55785434752022, + 99.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 183.15593055887354, + 101.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 185.75400677022685, + 102.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 188.35208298158017, + 104.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 190.95015919293348, + 105.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 193.5482354042868, + 107.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 196.14631161564012, + 108.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 198.74438782699343, + 110.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 201.34246403834675, + 111.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 203.94054024970006, + 113.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 206.53861646105338, + 114.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 209.1366926724067, + 116.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 211.73476888376, + 117.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 214.33284509511333, + 119.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 216.93092130646664, + 120.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 219.52899751781996, + 122.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 222.12707372917328, + 123.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 224.7251499405266, + 125.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 227.3232261518799, + 126.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 229.92130236323322, + 128.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 232.51937857458654, + 129.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 235.11745478593986, + 131.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 237.71553099729317, + 132.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 240.3136072086465, + 134.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 242.9116834199998, + 135.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 245.50975963135312, + 137.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 248.10783584270644, + 138.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 250.70591205405975, + 140.28896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 253.30398826541307, + 141.78896119503167, + -2.55337351429786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 255.90206447676638, + 143.28896119503167, + -2.55337351429786 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-59-36_498777856/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-59-36_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ffb9debf077553d7dea70e060865a6fdef1d305 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-59-36_498777856/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 144.49248994786038, + -20.02178263430781, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 142.99248994786038, + -17.423706422954496, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 141.49248994786038, + -14.82563021160118, + -0.5477351489030733 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 141.49248994786038, + -14.82563021160118, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 138.89441373650706, + -13.32563021160118, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 136.29633752515375, + -11.82563021160118, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 133.69826131380043, + -10.32563021160118, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 131.1001851024471, + -8.82563021160118, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 128.5021088910938, + -7.3256302116011796, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 125.90403267974048, + -5.8256302116011796, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 123.30595646838717, + -4.3256302116011796, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 120.70788025703385, + -2.8256302116011796, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 118.10980404568053, + -1.3256302116011798, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 115.51172783432722, + 0.17436978839882, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 112.9136516229739, + 1.6743697883988198, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 110.31557541162059, + 3.1743697883988196, + -0.5477351489030733 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 110.31557541162059, + 3.1743697883988196, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 107.31557541162059, + 3.17436978839882, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 104.31557541162059, + 3.1743697883988204, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 101.31557541162059, + 3.174369788398821, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 98.31557541162059, + 3.1743697883988213, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 95.31557541162059, + 3.174369788398822, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 92.31557541162059, + 3.1743697883988222, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 89.31557541162059, + 3.1743697883988227, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 86.31557541162059, + 3.174369788398823, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 83.31557541162059, + 3.1743697883988236, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 80.31557541162059, + 3.174369788398824, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 77.31557541162059, + 3.1743697883988244, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 74.31557541162059, + 3.174369788398825, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 71.31557541162059, + 3.1743697883988253, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 68.31557541162059, + 3.1743697883988258, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 65.31557541162059, + 3.174369788398826, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 62.315575411620586, + 3.1743697883988267, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 59.315575411620586, + 3.174369788398827, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 56.315575411620586, + 3.1743697883988276, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 53.315575411620586, + 3.174369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 50.315575411620586, + 3.1743697883988284, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 47.315575411620586, + 3.174369788398829, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 44.315575411620586, + 3.1743697883988293, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 41.315575411620586, + 3.1743697883988298, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 38.315575411620586, + 3.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 35.315575411620586, + 3.1743697883988307, + -0.5477351489030733 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 35.315575411620586, + 3.1743697883988307, + -0.5477351489030733 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 35.315575411620586, + 3.1743697883988307, + -0.5477351489030733 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 35.315575411620586, + 3.1743697883988307, + -0.5477351489030733 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 35.315575411620586, + 3.1743697883988307, + -0.5477351489030733 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 35.315575411620586, + 3.1743697883988307, + -0.5477351489030733 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 35.315575411620586, + 3.1743697883988307, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 37.9136516229739, + 4.67436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 40.51172783432722, + 6.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 43.109804045680534, + 7.67436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 45.70788025703385, + 9.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 48.305956468387166, + 10.67436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 50.90403267974048, + 12.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 53.5021088910938, + 13.67436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 56.100185102447114, + 15.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 58.69826131380043, + 16.674369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 61.296337525153746, + 18.174369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 63.89441373650706, + 19.674369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 66.49248994786038, + 21.174369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 69.0905661592137, + 22.674369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 71.68864237056701, + 24.174369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 74.28671858192033, + 25.674369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 76.88479479327364, + 27.174369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 79.48287100462696, + 28.674369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 82.08094721598027, + 30.174369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 84.67902342733359, + 31.674369788398828, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 87.2770996386869, + 33.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 89.87517585004022, + 34.67436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 92.47325206139354, + 36.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 95.07132827274685, + 37.67436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 97.66940448410017, + 39.17436978839883, + -0.5477351489030733 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 97.66940448410017, + 39.17436978839883, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 99.16940448410017, + 41.772445999752144, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 100.66940448410017, + 44.37052221110546, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 102.16940448410017, + 46.968598422458776, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 103.66940448410017, + 49.56667463381209, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 105.16940448410017, + 52.16475084516541, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 106.66940448410017, + 54.762827056518724, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 108.16940448410017, + 57.36090326787204, + -0.5477351489030733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 109.66940448410017, + 59.958979479225356, + -0.5477351489030733 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-6-34_2089018456/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-6-34_2089018456/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89b077154e23f716fd9fd54310028904c30f3a6a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-6-34_2089018456/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 703.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 706.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 709.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 712.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 715.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 718.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 721.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 724.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 727.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 730.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 730.910205147206, + -51.43646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 733.5082813585593, + -49.93646430813463, + -0.5946033449951642 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 733.5082813585593, + -49.93646430813463, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 735.0082813585593, + -47.338388096781316, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 736.5082813585593, + -44.740311885428, + -0.5946033449951642 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 736.5082813585593, + -44.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 739.1063575699127, + -43.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 741.7044337812661, + -41.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 744.3025099926194, + -40.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 746.9005862039728, + -38.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 749.4986624153262, + -37.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 752.0967386266796, + -35.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 754.6948148380329, + -34.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 757.2928910493863, + -32.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 759.8909672607397, + -31.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 762.489043472093, + -29.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 765.0871196834464, + -28.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 767.6851958947998, + -26.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 770.2832721061532, + -25.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 772.8813483175065, + -23.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 775.4794245288599, + -22.240311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 778.0775007402133, + -20.740311885428, + -0.5946033449951642 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 778.0775007402133, + -20.740311885428, + -0.5946033449951642 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 778.0775007402133, + -20.740311885428, + -0.5946033449951642 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 778.0775007402133, + -20.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 778.0775007402133, + -17.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 778.0775007402133, + -14.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 778.0775007402133, + -11.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 778.0775007402133, + -8.740311885428, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 778.0775007402133, + -5.7403118854279995, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 778.0775007402133, + -2.7403118854279995, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 778.0775007402133, + 0.2596881145720005, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 778.0775007402133, + 3.2596881145720005, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 778.0775007402133, + 6.2596881145720005, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 778.0775007402133, + 9.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 778.0775007402133, + 12.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 778.0775007402133, + 15.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 778.0775007402133, + 18.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 778.0775007402133, + 21.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 778.0775007402133, + 24.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 778.0775007402133, + 27.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 778.0775007402133, + 30.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 778.0775007402133, + 33.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 778.0775007402133, + 36.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 778.0775007402133, + 39.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 778.0775007402133, + 42.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 778.0775007402133, + 45.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 778.0775007402133, + 48.259688114572, + -0.5946033449951642 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 778.0775007402133, + 48.259688114572, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 779.5775007402133, + 50.85776432592532, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 781.0775007402133, + 53.45584053727863, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 782.5775007402133, + 56.05391674863195, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 784.0775007402133, + 58.651992959985265, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 785.5775007402133, + 61.25006917133858, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 787.0775007402133, + 63.8481453826919, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 788.5775007402133, + 66.44622159404521, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 790.0775007402133, + 69.04429780539853, + -0.5946033449951642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 791.5775007402133, + 71.64237401675184, + -0.5946033449951642 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-9-22_859484421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-9-22_859484421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f98aa70f89f5c404f0f1717bc5ed77596f6c203 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_22-9-22_859484421/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 5.575442115769086, + -95.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 5.575442115769086, + -92.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 5.575442115769086, + -89.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 5.575442115769086, + -86.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 5.575442115769086, + -83.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 5.575442115769086, + -80.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 5.575442115769086, + -77.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 5.575442115769086, + -74.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 5.575442115769086, + -71.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 5.575442115769086, + -68.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 5.575442115769086, + -65.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 5.575442115769086, + -62.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 5.575442115769086, + -59.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 5.575442115769086, + -56.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 5.575442115769086, + -53.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 5.575442115769086, + -50.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 5.575442115769086, + -47.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 5.575442115769086, + -44.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 5.575442115769086, + -41.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 5.575442115769086, + -38.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 5.575442115769086, + -35.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 5.575442115769086, + -32.38315449002452, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 5.575442115769086, + -29.383154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 5.575442115769086, + -26.383154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 5.575442115769086, + -23.383154490024523, + 3.5745344256520717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 5.575442115769086, + -23.383154490024523, + 3.5745344256520717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 5.575442115769086, + -23.383154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 8.173518327122402, + -21.883154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 10.771594538475718, + -20.383154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 13.369670749829034, + -18.883154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 15.96774696118235, + -17.383154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 18.565823172535666, + -15.883154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 21.16389938388898, + -14.383154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 23.761975595242298, + -12.883154490024523, + 3.5745344256520717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 23.761975595242298, + -12.883154490024523, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 25.261975595242298, + -10.285078278671207, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 26.761975595242298, + -7.687002067317891, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 28.261975595242298, + -5.088925855964575, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 29.761975595242298, + -2.4908496446112594, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 31.261975595242298, + 0.10722656674205666, + 3.5745344256520717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 31.261975595242298, + 0.10722656674205666, + 3.5745344256520717 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 31.261975595242298, + 0.10722656674205666, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 33.860051806595614, + 1.6072265667420564, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 36.45812801794893, + 3.107226566742056, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 39.056204229302246, + 4.607226566742056, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 41.65428044065556, + 6.107226566742056, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 44.25235665200888, + 7.607226566742056, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 46.850432863362194, + 9.107226566742055, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 49.44850907471551, + 10.607226566742055, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 52.046585286068826, + 12.107226566742055, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 54.64466149742214, + 13.607226566742055, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 57.24273770877546, + 15.107226566742055, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 59.840813920128774, + 16.607226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 62.43889013148209, + 18.107226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 65.0369663428354, + 19.607226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 67.63504255418871, + 21.107226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 70.23311876554203, + 22.607226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 72.83119497689535, + 24.107226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 75.42927118824866, + 25.607226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 78.02734739960198, + 27.107226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 80.6254236109553, + 28.607226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 83.22349982230861, + 30.107226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 85.82157603366193, + 31.607226566742053, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 88.41965224501524, + 33.10722656674205, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 91.01772845636856, + 34.60722656674205, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 93.61580466772187, + 36.10722656674205, + 3.5745344256520717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 93.61580466772187, + 36.10722656674205, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 95.11580466772187, + 38.705302778095366, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 96.61580466772187, + 41.30337898944868, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 98.11580466772187, + 43.901455200802, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 99.61580466772187, + 46.499531412155314, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 101.11580466772187, + 49.09760762350863, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 102.61580466772187, + 51.695683834861946, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 104.11580466772187, + 54.29376004621526, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 105.61580466772187, + 56.89183625756858, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 107.11580466772187, + 59.489912468921894, + 3.5745344256520717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 107.11580466772187, + 59.489912468921894, + 3.5745344256520717 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 107.11580466772187, + 59.489912468921894, + 3.5745344256520717 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 110.11580466772187, + 59.489912468921894, + 3.5745344256520717 + ], + "type": "stop", + "value": 0, + "yaw": 2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-0-13_1255179497/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-0-13_1255179497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32c414a790b19a6dda793c5368bc613487355bb9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-0-13_1255179497/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1255.0729627296962, + 157.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1255.0729627296962, + 160.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1255.0729627296962, + 163.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1255.0729627296962, + 166.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1255.0729627296962, + 169.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1255.0729627296962, + 172.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1255.0729627296962, + 175.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1255.0729627296962, + 178.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1255.0729627296962, + 181.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1255.0729627296962, + 184.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1255.0729627296962, + 187.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1255.0729627296962, + 190.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1255.0729627296962, + 193.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1255.0729627296962, + 196.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1255.0729627296962, + 199.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1255.0729627296962, + 202.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1255.0729627296962, + 205.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1255.0729627296962, + 208.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1255.0729627296962, + 211.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1255.0729627296962, + 214.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1255.0729627296962, + 217.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1255.0729627296962, + 220.23311646249346, + 1.1044246710850647 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1255.0729627296962, + 220.23311646249346, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1253.5729627296962, + 222.83119267384677, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1252.0729627296962, + 225.4292688852001, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1250.5729627296962, + 228.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1249.0729627296962, + 230.62542130790672, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1247.5729627296962, + 233.22349751926004, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1246.0729627296962, + 235.82157373061335, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1244.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1244.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1244.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1244.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1244.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1244.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1247.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1250.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1250.5729627296962, + 238.41964994196667, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1253.1710389410496, + 236.91964994196667, + 1.1044246710850647 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1253.1710389410496, + 236.91964994196667, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1254.6710389410496, + 234.32157373061335, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1256.1710389410496, + 231.72349751926004, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1257.6710389410496, + 229.12542130790672, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1259.1710389410496, + 226.5273450965534, + 1.1044246710850647 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1259.1710389410496, + 226.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1261.769115152403, + 225.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1264.3671913637563, + 223.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1266.9652675751097, + 222.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1269.563343786463, + 220.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1272.1614199978164, + 219.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1274.7594962091698, + 217.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1277.3575724205232, + 216.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1279.9556486318766, + 214.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1282.55372484323, + 213.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1285.1518010545833, + 211.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1287.7498772659367, + 210.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1290.34795347729, + 208.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1292.9460296886434, + 207.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1295.5441058999968, + 205.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1298.1421821113502, + 204.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1300.7402583227035, + 202.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1303.338334534057, + 201.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1305.9364107454103, + 199.5273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1308.5344869567637, + 198.0273450965534, + 1.1044246710850647 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1308.5344869567637, + 198.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1311.5344869567637, + 198.0273450965534, + 1.1044246710850647 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1314.5344869567637, + 198.0273450965534, + 1.1044246710850647 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-0-47_524872353/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-0-47_524872353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63f3c13481acdd709eab355d1a009556fababbd3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-0-47_524872353/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 464.82809511406765, + -601.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 464.82809511406765, + -598.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 464.82809511406765, + -595.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 464.82809511406765, + -592.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 464.82809511406765, + -589.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.82809511406765, + -586.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 464.82809511406765, + -583.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 464.82809511406765, + -580.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 464.82809511406765, + -577.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 464.82809511406765, + -574.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 464.82809511406765, + -571.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 464.82809511406765, + -568.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 464.82809511406765, + -565.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 464.82809511406765, + -562.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 464.82809511406765, + -559.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 464.82809511406765, + -556.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 464.82809511406765, + -553.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 464.82809511406765, + -550.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 464.82809511406765, + -547.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 464.82809511406765, + -544.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 464.82809511406765, + -541.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 464.82809511406765, + -538.6348739231156, + -0.18909409866366556 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 464.82809511406765, + -538.6348739231156, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 463.32809511406765, + -536.0367977117623, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 461.82809511406765, + -533.438721500409, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 460.32809511406765, + -530.8406452890556, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.82809511406765, + -528.2425690777022, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 457.32809511406765, + -525.6444928663489, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 455.82809511406765, + -523.0464166549955, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 454.32809511406765, + -520.4483404436421, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 452.82809511406765, + -517.8502642322887, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 451.32809511406765, + -515.2521880209354, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 449.82809511406765, + -512.654111809582, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 448.32809511406765, + -510.0560355982287, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 446.82809511406765, + -507.45795938687536, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 445.32809511406765, + -504.85988317552204, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 443.82809511406765, + -502.2618069641687, + -0.18909409866366556 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 443.82809511406765, + -502.2618069641687, + -0.18909409866366556 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 443.82809511406765, + -502.2618069641687, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 445.32809511406765, + -499.6637307528154, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 446.82809511406765, + -497.0656545414621, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 448.32809511406765, + -494.4675783301088, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 449.82809511406765, + -491.86950211875546, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 451.32809511406765, + -489.27142590740215, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 452.82809511406765, + -486.67334969604883, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 454.32809511406765, + -484.0752734846955, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 455.82809511406765, + -481.4771972733422, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 457.32809511406765, + -478.8791210619889, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 458.82809511406765, + -476.28104485063557, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 460.32809511406765, + -473.68296863928225, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 461.82809511406765, + -471.08489242792893, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 463.32809511406765, + -468.4868162165756, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 464.82809511406765, + -465.8887400052223, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 466.32809511406765, + -463.290663793869, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 467.82809511406765, + -460.69258758251567, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 469.32809511406765, + -458.09451137116235, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 470.82809511406765, + -455.49643515980904, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 472.32809511406765, + -452.8983589484557, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 473.82809511406765, + -450.3002827371024, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 475.32809511406765, + -447.7022065257491, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 476.82809511406765, + -445.1041303143958, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 478.32809511406765, + -442.50605410304246, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 479.82809511406765, + -439.90797789168914, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 481.32809511406765, + -437.3099016803358, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 482.82809511406765, + -434.7118254689825, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 484.32809511406765, + -432.1137492576292, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 485.82809511406765, + -429.5156730462759, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 487.32809511406765, + -426.91759683492256, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 488.82809511406765, + -424.31952062356925, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 490.32809511406765, + -421.72144441221593, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 491.82809511406765, + -419.1233682008626, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 493.32809511406765, + -416.5252919895093, + -0.18909409866366556 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 493.32809511406765, + -416.5252919895093, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 493.32809511406765, + -413.5252919895093, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 493.32809511406765, + -410.5252919895093, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 493.32809511406765, + -407.5252919895093, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 493.32809511406765, + -404.5252919895093, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 493.32809511406765, + -401.5252919895093, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 493.32809511406765, + -398.5252919895093, + -0.18909409866366556 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 493.32809511406765, + -395.5252919895093, + -0.18909409866366556 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-13-15_168002245/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-13-15_168002245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4bb9be96a00ff098bb2cbdee2ced3c8d81a5f7d0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-13-15_168002245/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.48189054287644, + -124.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 486.48189054287644, + -127.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 486.48189054287644, + -130.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 486.48189054287644, + -133.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 486.48189054287644, + -136.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 486.48189054287644, + -139.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 486.48189054287644, + -142.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 486.48189054287644, + -145.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 486.48189054287644, + -148.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 486.48189054287644, + -151.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.48189054287644, + -154.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 486.48189054287644, + -157.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 486.48189054287644, + -160.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 486.48189054287644, + -163.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 486.48189054287644, + -166.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 486.48189054287644, + -169.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 486.48189054287644, + -172.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 486.48189054287644, + -175.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 486.48189054287644, + -178.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 486.48189054287644, + -181.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 486.48189054287644, + -184.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 486.48189054287644, + -187.99630365403382, + 1.8762623989844842 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 486.48189054287644, + -187.99630365403382, + 1.8762623989844842 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 486.48189054287644, + -187.99630365403382, + 1.8762623989844842 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 486.48189054287644, + -187.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 483.8838143315231, + -189.49630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 481.2857381201698, + -190.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 478.6876619088165, + -192.49630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 476.0895856974632, + -193.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 473.49150948610986, + -195.49630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 470.89343327475655, + -196.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 468.29535706340323, + -198.49630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 465.6972808520499, + -199.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 463.0992046406966, + -201.49630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 460.5011284293433, + -202.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 457.90305221798997, + -204.49630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 455.30497600663665, + -205.99630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 452.70689979528333, + -207.49630365403382, + 1.8762623989844842 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 452.70689979528333, + -207.49630365403382, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 451.20689979528333, + -210.09437986538714, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 449.70689979528333, + -212.69245607674046, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 448.20689979528333, + -215.29053228809377, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 446.70689979528333, + -217.8886084994471, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 445.20689979528333, + -220.4866847108004, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 443.70689979528333, + -223.08476092215372, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 442.20689979528333, + -225.68283713350704, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 440.70689979528333, + -228.28091334486035, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 439.20689979528333, + -230.87898955621367, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 437.70689979528333, + -233.47706576756698, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 436.20689979528333, + -236.0751419789203, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 434.70689979528333, + -238.67321819027362, + 1.8762623989844842 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 433.20689979528333, + -241.27129440162693, + 1.8762623989844842 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-13-44_150122846/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-13-44_150122846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bca06824c0588f84a5ac3deeacff91edf89cfaf1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-13-44_150122846/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.43184502868192, + -447.90129070140455, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.93184502868192, + -450.49936691275786, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 63.43184502868192, + -453.0974431241112, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 64.93184502868192, + -455.6955193354645, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 66.43184502868192, + -458.2935955468178, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 67.93184502868192, + -460.8916717581711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 69.43184502868192, + -463.48974796952444, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 70.93184502868192, + -466.08782418087776, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 72.43184502868192, + -468.6859003922311, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 73.93184502868192, + -471.2839766035844, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 75.43184502868192, + -473.8820528149377, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 76.93184502868192, + -476.480129026291, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 78.43184502868192, + -479.07820523764434, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 79.93184502868192, + -481.67628144899766, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 81.43184502868192, + -484.274357660351, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 82.93184502868192, + -486.8724338717043, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 84.43184502868192, + -489.4705100830576, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 85.93184502868192, + -492.0685862944109, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 87.43184502868192, + -494.66666250576424, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 88.93184502868192, + -497.26473871711755, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 90.43184502868192, + -499.86281492847087, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 91.93184502868192, + -502.4608911398242, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 93.43184502868192, + -505.0589673511775, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 94.93184502868192, + -507.6570435625308, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 96.43184502868192, + -510.25511977388413, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 97.93184502868192, + -512.8531959852374, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 99.43184502868192, + -515.4512721965907, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 100.93184502868192, + -518.0493484079441, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 102.43184502868192, + -520.6474246192975, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 103.93184502868192, + -523.2455008306508, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 105.43184502868192, + -525.8435770420042, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 106.93184502868192, + -528.4416532533576, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 108.43184502868192, + -531.039729464711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 109.93184502868192, + -533.6378056760643, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 111.43184502868192, + -536.2358818874177, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 112.93184502868192, + -538.8339580987711, + 0.0807192271112731 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 112.93184502868192, + -538.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 115.52992124003524, + -540.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 118.12799745138855, + -541.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 120.72607366274187, + -543.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 123.32414987409518, + -544.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 125.9222260854485, + -546.3339580987711, + 0.0807192271112731 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 125.9222260854485, + -546.3339580987711, + 0.0807192271112731 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 125.9222260854485, + -546.3339580987711, + 0.0807192271112731 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 125.9222260854485, + -546.3339580987711, + 0.0807192271112731 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 125.9222260854485, + -546.3339580987711, + 0.0807192271112731 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 125.9222260854485, + -546.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 123.32414987409518, + -547.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 120.72607366274187, + -549.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 118.12799745138855, + -550.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 115.52992124003524, + -552.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 112.93184502868192, + -553.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 110.3337688173286, + -555.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 107.73569260597529, + -556.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 105.13761639462197, + -558.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 102.53954018326866, + -559.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 99.94146397191534, + -561.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 97.34338776056202, + -562.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 94.74531154920871, + -564.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 92.14723533785539, + -565.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 89.54915912650208, + -567.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 86.95108291514876, + -568.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 84.35300670379544, + -570.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 81.75493049244213, + -571.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 79.15685428108881, + -573.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 76.5587780697355, + -574.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 73.96070185838218, + -576.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 71.36262564702886, + -577.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 68.76454943567555, + -579.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 66.16647322432223, + -580.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 63.568397012968916, + -582.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 60.9703208016156, + -583.8339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 58.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 58.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 55.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 52.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 49.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 46.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 43.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 40.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 37.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 34.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 31.372244590262284, + -585.3339580987711, + 0.0807192271112731 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-14-21_439493451/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-14-21_439493451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e744eb3fd49d6d96ba77ae88f199b0947096b008 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-14-21_439493451/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 311.7648986971088, + -189.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 311.7648986971088, + -186.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 311.7648986971088, + -183.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 311.7648986971088, + -180.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 311.7648986971088, + -177.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 311.7648986971088, + -174.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.7648986971088, + -171.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 311.7648986971088, + -168.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 311.7648986971088, + -165.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 311.7648986971088, + -162.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 311.7648986971088, + -159.9684811771368, + 1.0830664553233627 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 311.7648986971088, + -159.9684811771368, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 310.2648986971088, + -157.37040496578348, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 308.7648986971088, + -154.77232875443016, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 307.2648986971088, + -152.17425254307685, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 305.7648986971088, + -149.57617633172353, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 304.2648986971088, + -146.97810012037021, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 302.7648986971088, + -144.3800239090169, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 301.2648986971088, + -141.78194769766358, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 299.7648986971088, + -139.18387148631027, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 298.2648986971088, + -136.58579527495695, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 296.7648986971088, + -133.98771906360363, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 295.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 295.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 295.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 295.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 295.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 298.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 301.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 304.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 307.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 307.2648986971088, + -131.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 309.8629749084621, + -129.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.4610511198154, + -128.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 315.0591273311687, + -126.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 317.65720354252204, + -125.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 320.25527975387536, + -123.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 322.8533559652287, + -122.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 325.451432176582, + -120.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 328.0495083879353, + -119.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 330.6475845992886, + -117.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 333.24566081064194, + -116.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 335.84373702199525, + -114.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 338.44181323334857, + -113.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 341.0398894447019, + -111.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 343.6379656560552, + -110.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 346.2360418674085, + -108.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 348.83411807876183, + -107.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 351.43219429011515, + -105.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 354.03027050146846, + -104.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 356.6283467128218, + -102.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 359.2264229241751, + -101.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 361.8244991355284, + -99.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 364.42257534688173, + -98.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 367.02065155823504, + -96.88964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 369.61872776958836, + -95.38964285225032, + 1.0830664553233627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 372.2168039809417, + -93.88964285225032, + 1.0830664553233627 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-16-9_1231192379/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-16-9_1231192379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa187734bdb3e80282e2d93cea88e066818ff89e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-16-9_1231192379/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 347.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 350.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 353.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 356.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 359.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 362.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 365.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 368.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 371.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 374.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 377.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 380.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 383.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 386.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 389.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 392.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 395.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 398.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 401.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 404.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 407.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 410.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 413.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 416.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 419.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 422.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 425.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 428.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 431.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 434.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 437.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 440.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 440.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 440.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 440.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 440.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 440.4160350116221, + -499.8372524961826, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 438.9160350116221, + -497.2391762848293, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 437.4160350116221, + -494.64110007347597, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 435.9160350116221, + -492.04302386212265, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 434.4160350116221, + -489.44494765076934, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 432.9160350116221, + -486.846871439416, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 431.4160350116221, + -484.2487952280627, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 429.9160350116221, + -481.6507190167094, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 428.4160350116221, + -479.0526428053561, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 426.9160350116221, + -476.45456659400276, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 425.4160350116221, + -473.85649038264944, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 423.9160350116221, + -471.2584141712961, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 422.4160350116221, + -468.6603379599428, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 420.9160350116221, + -466.0622617485895, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 419.4160350116221, + -463.4641855372362, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 417.9160350116221, + -460.86610932588286, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 416.4160350116221, + -458.26803311452954, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 414.9160350116221, + -455.6699569031762, + -2.6927720810500375 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 414.9160350116221, + -455.6699569031762, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 414.9160350116221, + -452.6699569031762, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 414.9160350116221, + -449.6699569031762, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 414.9160350116221, + -446.6699569031762, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 414.9160350116221, + -443.6699569031762, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 414.9160350116221, + -440.6699569031762, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 414.9160350116221, + -437.6699569031762, + -2.6927720810500375 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 414.9160350116221, + -434.6699569031762, + -2.6927720810500375 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-18-20_2147469841/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-18-20_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f18b8e4a7bb2837864f9dbd0da952570450e7489 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-18-20_2147469841/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1398.450623821569, + 79.17769586796274, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1399.950623821569, + 76.57961965660942, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1401.450623821569, + 73.98154344525611, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1402.950623821569, + 71.38346723390279, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1404.450623821569, + 68.78539102254948, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1405.950623821569, + 66.18731481119616, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1407.450623821569, + 63.589238599842844, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1408.950623821569, + 60.99116238848953, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1410.450623821569, + 58.39308617713621, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1411.950623821569, + 55.795009965782896, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1413.450623821569, + 53.19693375442958, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1414.950623821569, + 50.598857543076264, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1416.450623821569, + 48.00078133172295, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1417.950623821569, + 45.40270512036963, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1419.450623821569, + 42.804628909016316, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1420.950623821569, + 40.206552697663, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1422.450623821569, + 37.608476486309684, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1423.950623821569, + 35.01040027495637, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1425.450623821569, + 32.41232406360305, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1426.950623821569, + 29.814247852249736, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1428.450623821569, + 27.21617164089642, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1429.950623821569, + 24.618095429543104, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1431.450623821569, + 22.020019218189788, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1432.950623821569, + 19.42194300683647, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1434.450623821569, + 16.823866795483156, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1435.950623821569, + 14.22579058412984, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1437.450623821569, + 11.627714372776524, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1438.950623821569, + 9.029638161423208, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1440.450623821569, + 6.4315619500698915, + 4.197737637172244 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1440.450623821569, + 6.4315619500698915, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1443.0487000329224, + 4.9315619500698915, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1445.6467762442758, + 3.4315619500698915, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1448.2448524556291, + 1.9315619500698917, + 4.197737637172244 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1448.2448524556291, + 1.9315619500698917, + 4.197737637172244 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1448.2448524556291, + 1.9315619500698917, + 4.197737637172244 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1448.2448524556291, + 1.9315619500698917, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1448.2448524556291, + -1.0684380499301083, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1448.2448524556291, + -4.0684380499301085, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1448.2448524556291, + -7.0684380499301085, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1448.2448524556291, + -10.068438049930108, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1448.2448524556291, + -13.068438049930108, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1448.2448524556291, + -16.06843804993011, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1448.2448524556291, + -19.06843804993011, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1448.2448524556291, + -22.06843804993011, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1448.2448524556291, + -25.06843804993011, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1448.2448524556291, + -28.06843804993011, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1448.2448524556291, + -31.06843804993011, + 4.197737637172244 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1448.2448524556291, + -31.06843804993011, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1446.7448524556291, + -33.666514261283425, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1445.2448524556291, + -36.26459047263674, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1443.7448524556291, + -38.86266668399006, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1442.2448524556291, + -41.46074289534337, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1440.7448524556291, + -44.05881910669669, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1439.2448524556291, + -46.656895318050005, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1437.7448524556291, + -49.25497152940332, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1436.2448524556291, + -51.85304774075664, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1434.7448524556291, + -54.45112395210995, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1433.2448524556291, + -57.04920016346327, + 4.197737637172244 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1431.7448524556291, + -59.647276374816585, + 4.197737637172244 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-2-2_1572276965/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-2-2_1572276965/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca30031e72f3cc5e53a0ab8ad7cede7c1badc3c6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-2-2_1572276965/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -197.08821706709614, + 11.12945607775496, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -198.58821706709614, + 8.531379866401643, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -200.08821706709614, + 5.933303655048327, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -201.58821706709614, + 3.335227443695011, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -203.08821706709614, + 0.7371512323416951, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -204.58821706709614, + -1.860924979011621, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -206.08821706709614, + -4.459001190364937, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -207.58821706709614, + -7.057077401718253, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -209.08821706709614, + -9.655153613071569, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -210.58821706709614, + -12.253229824424885, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -212.08821706709614, + -14.851306035778201, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -213.58821706709614, + -17.449382247131517, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -215.08821706709614, + -20.047458458484833, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -216.58821706709614, + -22.64553466983815, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -218.08821706709614, + -25.243610881191465, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -219.58821706709614, + -27.84168709254478, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -221.08821706709614, + -30.439763303898097, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -222.58821706709614, + -33.03783951525141, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -224.08821706709614, + -35.63591572660473, + -1.5883963884758852 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -224.08821706709614, + -35.63591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -226.68629327844945, + -37.13591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -229.28436948980277, + -38.63591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -231.8824457011561, + -40.13591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -234.4805219125094, + -41.63591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -237.07859812386272, + -43.13591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -239.67667433521603, + -44.63591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -242.27475054656935, + -46.13591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -244.87282675792267, + -47.63591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -247.47090296927598, + -49.13591572660473, + -1.5883963884758852 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -247.47090296927598, + -49.13591572660473, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -248.97090296927598, + -51.733991937958045, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -250.47090296927598, + -54.33206814931136, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -251.97090296927598, + -56.93014436066468, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -253.47090296927598, + -59.52822057201799, + -1.5883963884758852 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -253.47090296927598, + -59.52822057201799, + -1.5883963884758852 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -253.47090296927598, + -59.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -256.0689791806293, + -61.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -258.6670553919826, + -62.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -261.26513160333593, + -64.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -263.86320781468925, + -65.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -266.46128402604256, + -67.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -269.0593602373959, + -68.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -271.6574364487492, + -70.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -274.2555126601025, + -71.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -276.8535888714558, + -73.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -279.45166508280914, + -74.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -282.04974129416246, + -76.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -284.6478175055158, + -77.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -287.2458937168691, + -79.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -289.8439699282224, + -80.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -292.4420461395757, + -82.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -295.04012235092904, + -83.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -297.63819856228235, + -85.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -300.23627477363567, + -86.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -302.834350984989, + -88.02822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -305.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -305.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -308.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -311.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -314.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -317.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -320.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -323.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -326.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -329.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -332.4324271963423, + -89.52822057201799, + -1.5883963884758852 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-22-11_155324914/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-22-11_155324914/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27a89802e0cf852256e010003b660fc7dbcc8115 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-22-11_155324914/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1211.5915993087472, + 129.85301466312217, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1213.0915993087472, + 132.45109087447548, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1214.5915993087472, + 135.0491670858288, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1216.0915993087472, + 137.64724329718211, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1217.5915993087472, + 140.24531950853543, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1219.0915993087472, + 142.84339571988875, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1220.5915993087472, + 145.44147193124206, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1222.0915993087472, + 148.03954814259538, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1223.5915993087472, + 150.6376243539487, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1225.0915993087472, + 153.235700565302, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1226.5915993087472, + 155.83377677665533, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1228.0915993087472, + 158.43185298800864, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1229.5915993087472, + 161.02992919936196, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1231.0915993087472, + 163.62800541071528, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1232.5915993087472, + 166.2260816220686, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1234.0915993087472, + 168.8241578334219, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1235.5915993087472, + 171.42223404477522, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1237.0915993087472, + 174.02031025612854, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1238.5915993087472, + 176.61838646748186, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1240.0915993087472, + 179.21646267883517, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1241.5915993087472, + 181.8145388901885, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1243.0915993087472, + 184.4126151015418, + 4.606739099435188 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1243.0915993087472, + 184.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1243.0915993087472, + 187.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1243.0915993087472, + 190.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1243.0915993087472, + 193.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1243.0915993087472, + 196.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1243.0915993087472, + 199.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1243.0915993087472, + 202.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1243.0915993087472, + 205.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1243.0915993087472, + 208.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1243.0915993087472, + 211.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1243.0915993087472, + 214.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1243.0915993087472, + 217.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1243.0915993087472, + 220.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1243.0915993087472, + 223.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1243.0915993087472, + 226.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1243.0915993087472, + 229.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1243.0915993087472, + 232.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1243.0915993087472, + 235.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1243.0915993087472, + 238.4126151015418, + 4.606739099435188 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1243.0915993087472, + 238.4126151015418, + 4.606739099435188 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1243.0915993087472, + 238.4126151015418, + 4.606739099435188 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1243.0915993087472, + 238.4126151015418, + 4.606739099435188 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1243.0915993087472, + 238.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1245.6896755201005, + 236.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1248.287751731454, + 235.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1250.8858279428073, + 233.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1253.4839041541607, + 232.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1256.081980365514, + 230.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1258.6800565768674, + 229.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1261.2781327882208, + 227.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1263.8762089995741, + 226.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1266.4742852109275, + 224.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1269.072361422281, + 223.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1271.6704376336343, + 221.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1274.2685138449876, + 220.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1276.866590056341, + 218.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1279.4646662676944, + 217.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1282.0627424790478, + 215.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1284.6608186904011, + 214.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1287.2588949017545, + 212.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1289.8569711131079, + 211.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1292.4550473244612, + 209.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1295.0531235358146, + 208.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1297.651199747168, + 206.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1300.2492759585214, + 205.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1302.8473521698747, + 203.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1305.445428381228, + 202.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1308.0435045925815, + 200.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1310.6415808039349, + 199.4126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1313.2396570152882, + 197.9126151015418, + 4.606739099435188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1315.8377332266416, + 196.4126151015418, + 4.606739099435188 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-22-47_8936987/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-22-47_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..250ce251736eaa64dd1328913dc869b9ea310143 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-22-47_8936987/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -55.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -52.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -49.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -46.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -43.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -40.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -37.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -34.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -31.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -28.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -25.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -22.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -19.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -16.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -13.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -10.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -7.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -4.934953439095565, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1.9349534390955654, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1.0650465609044346, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.0650465609044346, + -572.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.6631227722577506, + -573.7693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 6.261198983611067, + -575.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 8.859275194964383, + -576.7693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 11.457351406317699, + -578.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 14.055427617671015, + -579.7693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 16.65350382902433, + -581.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 19.251580040377647, + -582.7693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 21.849656251730963, + -584.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 24.44773246308428, + -585.7693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 27.045808674437595, + -587.2693993187015, + 1.0907887875831337 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 27.045808674437595, + -587.2693993187015, + 1.0907887875831337 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 27.045808674437595, + -587.2693993187015, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 28.545808674437595, + -589.8674755300549, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 30.045808674437595, + -592.4655517414083, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 31.545808674437595, + -595.0636279527616, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 33.045808674437595, + -597.661704164115, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 34.545808674437595, + -600.2597803754684, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 36.045808674437595, + -602.8578565868218, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 37.545808674437595, + -605.4559327981751, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 39.045808674437595, + -608.0540090095285, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 40.545808674437595, + -610.6520852208819, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 42.045808674437595, + -613.2501614322352, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 43.545808674437595, + -615.8482376435886, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 45.045808674437595, + -618.446313854942, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 46.545808674437595, + -621.0443900662954, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 48.045808674437595, + -623.6424662776487, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 49.545808674437595, + -626.2405424890021, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 51.045808674437595, + -628.8386187003555, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 52.545808674437595, + -631.4366949117089, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 54.045808674437595, + -634.0347711230622, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 55.545808674437595, + -636.6328473344156, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 57.045808674437595, + -639.230923545769, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 58.545808674437595, + -641.8289997571223, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 60.045808674437595, + -644.4270759684757, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 61.545808674437595, + -647.0251521798291, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 63.045808674437595, + -649.6232283911825, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 64.5458086744376, + -652.2213046025358, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 66.0458086744376, + -654.8193808138892, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 67.5458086744376, + -657.4174570252426, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 69.0458086744376, + -660.015533236596, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 70.5458086744376, + -662.6136094479493, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 72.0458086744376, + -665.2116856593027, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 73.5458086744376, + -667.8097618706561, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 75.0458086744376, + -670.4078380820094, + 1.0907887875831337 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 75.0458086744376, + -670.4078380820094, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 75.0458086744376, + -673.4078380820094, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 75.0458086744376, + -676.4078380820094, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 75.0458086744376, + -679.4078380820094, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 75.0458086744376, + -682.4078380820094, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 75.0458086744376, + -685.4078380820094, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 75.0458086744376, + -688.4078380820094, + 1.0907887875831337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 75.0458086744376, + -691.4078380820094, + 1.0907887875831337 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-25-44_841148365/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-25-44_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..832c2114b38967a9b38c9ced6263950098f67f69 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-25-44_841148365/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 411.4761127773191, + -164.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 414.0741889886724, + -165.6535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 416.6722652000257, + -167.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 419.27034141137904, + -168.6535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 421.86841762273235, + -170.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 424.46649383408567, + -171.6535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 427.064570045439, + -173.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 429.6626462567923, + -174.6535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 432.2607224681456, + -176.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 434.85879867949893, + -177.6535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 437.45687489085225, + -179.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 440.05495110220556, + -180.6535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 442.6530273135589, + -182.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 445.2511035249122, + -183.6535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 447.8491797362655, + -185.1535172695489, + 1.5189044661429136 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 447.8491797362655, + -185.1535172695489, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 449.3491797362655, + -187.75159348090222, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 450.8491797362655, + -190.34966969225553, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 452.3491797362655, + -192.94774590360885, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 453.8491797362655, + -195.54582211496216, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 455.3491797362655, + -198.14389832631548, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 456.8491797362655, + -200.7419745376688, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 458.3491797362655, + -203.3400507490221, + 1.5189044661429136 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 458.3491797362655, + -203.3400507490221, + 1.5189044661429136 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 458.3491797362655, + -203.3400507490221, + 1.5189044661429136 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.3491797362655, + -203.3400507490221, + 1.5189044661429136 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 458.3491797362655, + -203.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 455.7511035249122, + -204.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 453.1530273135589, + -206.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 450.55495110220556, + -207.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 447.95687489085225, + -209.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 445.35879867949893, + -210.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 442.7607224681456, + -212.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 440.1626462567923, + -213.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 437.564570045439, + -215.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 434.96649383408567, + -216.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 432.36841762273235, + -218.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 429.77034141137904, + -219.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 427.1722652000257, + -221.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 424.5741889886724, + -222.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 421.9761127773191, + -224.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 419.3780365659658, + -225.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 416.77996035461246, + -227.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 414.18188414325914, + -228.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 411.5838079319058, + -230.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 408.9857317205525, + -231.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 406.3876555091992, + -233.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 403.7895792978459, + -234.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 401.19150308649256, + -236.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 398.59342687513924, + -237.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 395.9953506637859, + -239.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 393.3972744524326, + -240.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 390.7991982410793, + -242.3400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 388.201122029726, + -243.8400507490221, + 1.5189044661429136 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 388.201122029726, + -243.8400507490221, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 386.701122029726, + -246.43812696037543, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 385.201122029726, + -249.03620317172874, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 383.701122029726, + -251.63427938308206, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 382.201122029726, + -254.23235559443538, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 380.701122029726, + -256.8304318057887, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 379.201122029726, + -259.428508017142, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 377.701122029726, + -262.0265842284953, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 376.201122029726, + -264.62466043984864, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 374.701122029726, + -267.22273665120196, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 373.201122029726, + -269.8208128625553, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 371.701122029726, + -272.4188890739086, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 370.201122029726, + -275.0169652852619, + 1.5189044661429136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 368.701122029726, + -277.6150414966152, + 1.5189044661429136 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-25-9_350322227/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-25-9_350322227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0eb8df803746bb895e46ab50bd6fcad39263228 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-25-9_350322227/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 332.7241839067029, + -238.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 330.12610769534956, + -237.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 327.52803148399624, + -235.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 324.9299552726429, + -234.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 322.3318790612896, + -232.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 319.7338028499363, + -231.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 317.135726638583, + -229.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 314.53765042722966, + -228.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 311.93957421587635, + -226.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 309.34149800452303, + -225.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 306.7434217931697, + -223.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 304.1453455818164, + -222.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 301.5472693704631, + -220.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 298.94919315910977, + -219.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 296.35111694775645, + -217.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.75304073640314, + -216.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 291.1549645250498, + -214.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.5568883136965, + -213.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.9588121023432, + -211.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 283.3607358909899, + -210.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 280.76265967963656, + -208.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 278.16458346828324, + -207.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 275.5665072569299, + -205.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 272.9684310455766, + -204.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 270.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 270.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 267.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 264.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 261.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 258.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 255.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 252.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 249.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 246.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 243.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 243.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 243.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 243.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 243.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 243.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 243.3703548342233, + -202.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 245.9684310455766, + -201.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 248.56650725692992, + -199.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 251.16458346828324, + -198.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 253.76265967963656, + -196.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 256.3607358909899, + -195.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 258.9588121023432, + -193.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 261.5568883136965, + -192.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 264.1549645250498, + -190.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.75304073640314, + -189.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.35111694775645, + -187.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 271.94919315910977, + -186.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 274.5472693704631, + -184.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 277.1453455818164, + -183.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 279.7434217931697, + -181.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 282.34149800452303, + -180.4636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 284.93957421587635, + -178.9636153870735, + -4.749787834367272 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 284.93957421587635, + -178.9636153870735, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 286.43957421587635, + -176.3655391757202, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 287.93957421587635, + -173.76746296436687, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 289.43957421587635, + -171.16938675301355, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 290.93957421587635, + -168.57131054166024, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 292.43957421587635, + -165.97323433030692, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 293.93957421587635, + -163.3751581189536, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 295.43957421587635, + -160.7770819076003, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 296.93957421587635, + -158.17900569624697, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 298.43957421587635, + -155.58092948489366, + -4.749787834367272 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 298.43957421587635, + -155.58092948489366, + -4.749787834367272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 301.03765042722966, + -154.08092948489366, + -4.749787834367272 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-28-21_1244316437/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-28-21_1244316437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fc5c277fdf7551b89eb5d6a2e6e8f74ee727b88 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-28-21_1244316437/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1344.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1347.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1350.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1353.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1356.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1359.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1362.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1365.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1368.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1371.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1374.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1377.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1380.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1383.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1386.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1389.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1392.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1395.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1398.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1401.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1404.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1407.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1410.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1413.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1413.2770935955855, + -17.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1415.8751698069389, + -15.835437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1418.4732460182922, + -14.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1421.0713222296456, + -12.835437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1423.669398440999, + -11.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1426.2674746523523, + -9.835437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1428.8655508637057, + -8.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1431.463627075059, + -6.835437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1434.0617032864125, + -5.335437520113825, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1436.6597794977658, + -3.8354375201138247, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1439.2578557091192, + -2.3354375201138247, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1441.8559319204726, + -0.8354375201138249, + -3.7088796505454664 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1441.8559319204726, + -0.8354375201138249, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1444.8559319204726, + -0.8354375201138249, + -3.7088796505454664 + ], + "type": "turn right", + "value": 30, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1444.8559319204726, + -0.8354375201138249, + -3.7088796505454664 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1444.8559319204726, + -0.8354375201138249, + -3.7088796505454664 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1444.8559319204726, + -0.8354375201138249, + -3.7088796505454664 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1444.8559319204726, + -0.8354375201138249, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1443.3559319204726, + -3.4335137314671407, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1441.8559319204726, + -6.031589942820457, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1440.3559319204726, + -8.629666154173773, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1438.8559319204726, + -11.227742365527089, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1437.3559319204726, + -13.825818576880405, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1435.8559319204726, + -16.42389478823372, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1434.3559319204726, + -19.021970999587037, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1432.8559319204726, + -21.620047210940353, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1431.3559319204726, + -24.21812342229367, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1429.8559319204726, + -26.816199633646985, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1428.3559319204726, + -29.4142758450003, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1426.8559319204726, + -32.01235205635362, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393195 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1425.3559319204726, + -34.610428267706936, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1423.8559319204726, + -37.20850447906025, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1422.3559319204726, + -39.80658069041357, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1420.8559319204726, + -42.404656901766884, + -3.7088796505454664 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1420.8559319204726, + -42.404656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1418.2578557091192, + -43.904656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1415.6597794977658, + -45.404656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1413.0617032864125, + -46.904656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1410.463627075059, + -48.404656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1407.8655508637057, + -49.904656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1405.2674746523523, + -51.404656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1402.669398440999, + -52.904656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1400.0713222296456, + -54.404656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1397.4732460182922, + -55.904656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1394.8751698069389, + -57.404656901766884, + -3.7088796505454664 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1394.8751698069389, + -57.404656901766884, + -3.7088796505454664 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1393.3751698069389, + -60.0027331131202, + -3.7088796505454664 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-31-7_1626276121/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-31-7_1626276121/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0ba3e4e0a81557dd0a8813c926d13dab1bb67d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-31-7_1626276121/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1459.3462981918287, + -11.638536459321003, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1460.8462981918287, + -14.236612670674319, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1462.3462981918287, + -16.834688882027635, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1463.8462981918287, + -19.43276509338095, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1465.3462981918287, + -22.030841304734267, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1466.8462981918287, + -24.628917516087583, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1468.3462981918287, + -27.2269937274409, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1469.8462981918287, + -29.825069938794215, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1471.3462981918287, + -32.42314615014753, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1472.8462981918287, + -35.02122236150085, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1474.3462981918287, + -37.61929857285416, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1475.8462981918287, + -40.21737478420748, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1477.3462981918287, + -42.815450995560795, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1478.8462981918287, + -45.41352720691411, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1480.3462981918287, + -48.01160341826743, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1481.8462981918287, + -50.60967962962074, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1483.3462981918287, + -53.20775584097406, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1484.8462981918287, + -55.805832052327375, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1486.3462981918287, + -58.40390826368069, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1487.8462981918287, + -61.00198447503401, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1489.3462981918287, + -63.60006068638732, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1490.8462981918287, + -66.19813689774064, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1492.3462981918287, + -68.79621310909396, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1493.8462981918287, + -71.39428932044727, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1495.3462981918287, + -73.99236553180059, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1496.8462981918287, + -76.5904417431539, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1498.3462981918287, + -79.18851795450722, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1499.8462981918287, + -81.78659416586054, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1501.3462981918287, + -84.38467037721385, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1502.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1502.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1502.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1502.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1505.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1508.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1511.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1514.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1517.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1520.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1523.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1526.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1529.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1532.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1535.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1538.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1541.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1544.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1547.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1550.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1553.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1556.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1559.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1562.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1565.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1568.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1571.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1574.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1577.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1580.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1583.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1586.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1589.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1589.8462981918287, + -86.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1592.444374403182, + -88.48274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1595.0424506145355, + -89.98274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1597.6405268258889, + -91.48274658856717, + 4.00936571360363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1597.6405268258889, + -91.48274658856717, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1599.1405268258889, + -94.08082279992048, + 4.00936571360363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1600.6405268258889, + -96.6788990112738, + 4.00936571360363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-32-43_1239036029/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-32-43_1239036029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1760bdad59b39e26b44404eaa1c112d1a2749c49 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-32-43_1239036029/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 81.53960583356849, + 68.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.53960583356849, + 71.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.53960583356849, + 74.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 81.53960583356849, + 77.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 81.53960583356849, + 80.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 81.53960583356849, + 83.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 81.53960583356849, + 86.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 81.53960583356849, + 89.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 81.53960583356849, + 92.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 81.53960583356849, + 95.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 81.53960583356849, + 98.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 81.53960583356849, + 101.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 81.53960583356849, + 104.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 81.53960583356849, + 107.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 81.53960583356849, + 110.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 81.53960583356849, + 113.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 81.53960583356849, + 116.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 81.53960583356849, + 119.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 81.53960583356849, + 122.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 81.53960583356849, + 125.60061266278704, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 81.53960583356849, + 128.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 81.53960583356849, + 131.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 81.53960583356849, + 134.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 81.53960583356849, + 137.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 81.53960583356849, + 140.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 81.53960583356849, + 143.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 81.53960583356849, + 146.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 81.53960583356849, + 149.60061266278706, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 81.53960583356849, + 149.60061266278706, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 81.53960583356849, + 149.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 84.1376820449218, + 151.10061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 86.73575825627512, + 152.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 89.33383446762844, + 154.10061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 91.93191067898175, + 155.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 94.52998689033507, + 157.10061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 97.12806310168838, + 158.60061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 99.7261393130417, + 160.10061266278706, + -3.573927731913128 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 99.7261393130417, + 160.10061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 101.2261393130417, + 162.69868887414037, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 102.7261393130417, + 165.2967650854937, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 104.2261393130417, + 167.894841296847, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 105.7261393130417, + 170.49291750820032, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 107.2261393130417, + 173.09099371955364, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 107.2261393130417, + 173.09099371955364, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 107.2261393130417, + 173.09099371955364, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 107.2261393130417, + 173.09099371955364, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 107.2261393130417, + 173.09099371955364, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 107.2261393130417, + 173.09099371955364, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 108.7261393130417, + 170.49291750820032, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 110.2261393130417, + 167.894841296847, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 111.7261393130417, + 165.2967650854937, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 113.2261393130417, + 162.69868887414037, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 114.7261393130417, + 160.10061266278706, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 116.2261393130417, + 157.50253645143374, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 117.7261393130417, + 154.90446024008043, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 119.2261393130417, + 152.3063840287271, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 120.7261393130417, + 149.7083078173738, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 122.2261393130417, + 147.11023160602048, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 123.7261393130417, + 144.51215539466716, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 125.2261393130417, + 141.91407918331385, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 126.7261393130417, + 139.31600297196053, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 128.2261393130417, + 136.7179267606072, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 129.7261393130417, + 134.1198505492539, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 131.2261393130417, + 131.52177433790058, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 132.7261393130417, + 128.92369812654727, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 134.2261393130417, + 126.32562191519395, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 135.7261393130417, + 123.72754570384063, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 137.2261393130417, + 121.12946949248732, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 138.7261393130417, + 118.531393281134, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 140.2261393130417, + 115.93331706978068, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 141.7261393130417, + 113.33524085842737, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 143.2261393130417, + 110.73716464707405, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 144.7261393130417, + 108.13908843572074, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 146.2261393130417, + 105.54101222436742, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 147.7261393130417, + 102.9429360130141, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 149.2261393130417, + 100.34485980166079, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 150.7261393130417, + 97.74678359030747, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 152.2261393130417, + 95.14870737895416, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 153.7261393130417, + 92.55063116760084, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 155.2261393130417, + 89.95255495624752, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 156.7261393130417, + 87.35447874489421, + -3.573927731913128 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 156.7261393130417, + 87.35447874489421, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 156.7261393130417, + 84.35447874489421, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 156.7261393130417, + 81.35447874489421, + -3.573927731913128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 156.7261393130417, + 78.35447874489421, + -3.573927731913128 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-33-33_1884661237/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-33-33_1884661237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97be2f8ddaa27c88062887e1292d3a29cc54922a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-33-33_1884661237/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 497.333165333329, + -651.5043825820503, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 495.833165333329, + -648.9063063706969, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 494.333165333329, + -646.3082301593436, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 492.833165333329, + -643.7101539479902, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 491.333165333329, + -641.1120777366368, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 489.833165333329, + -638.5140015252834, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 488.333165333329, + -635.9159253139301, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 486.833165333329, + -633.3178491025767, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 485.333165333329, + -630.7197728912233, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.833165333329, + -628.12169667987, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 482.333165333329, + -625.5236204685166, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 480.833165333329, + -622.9255442571632, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 479.333165333329, + -620.3274680458098, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 477.833165333329, + -617.7293918344565, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 476.333165333329, + -615.1313156231031, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 474.833165333329, + -612.5332394117497, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 473.333165333329, + -609.9351632003963, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 471.833165333329, + -607.337086989043, + -1.4567046610658845 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 471.833165333329, + -607.337086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 469.2350891219757, + -605.837086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 466.6370129106224, + -604.337086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 464.0389366992691, + -602.837086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 461.44086048791576, + -601.337086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 458.84278427656244, + -599.837086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 456.2447080652091, + -598.337086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 453.6466318538558, + -596.837086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 451.0485556425025, + -595.337086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 448.4504794311492, + -593.837086989043, + -1.4567046610658845 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 448.4504794311492, + -593.837086989043, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 446.9504794311492, + -591.2390107776896, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 445.4504794311492, + -588.6409345663362, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 443.9504794311492, + -586.0428583549829, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 442.4504794311492, + -583.4447821436295, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 437.9839408874512, + -578.2894577026368, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 440.9504794311492, + -580.8467059322761, + -1.4567046610658845 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 440.9504794311492, + -580.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 440.9504794311492, + -577.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 440.9504794311492, + -574.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 440.9504794311492, + -571.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 440.9504794311492, + -568.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 440.9504794311492, + -565.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 440.9504794311492, + -562.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 440.9504794311492, + -559.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 440.9504794311492, + -556.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 440.9504794311492, + -553.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 440.9504794311492, + -550.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 440.9504794311492, + -547.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 440.9504794311492, + -544.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 440.9504794311492, + -541.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 440.9504794311492, + -538.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 440.9504794311492, + -535.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 440.9504794311492, + -532.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 440.9504794311492, + -529.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 440.9504794311492, + -526.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 440.9504794311492, + -523.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 440.9504794311492, + -520.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 440.9504794311492, + -517.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 440.9504794311492, + -514.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 440.9504794311492, + -511.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 440.9504794311492, + -508.8467059322761, + -1.4567046610658845 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 440.9504794311492, + -508.8467059322761, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 442.4504794311492, + -506.2486297209228, + -1.4567046610658845 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 443.9504794311492, + -503.6505535095695, + -1.4567046610658845 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-34-45_1350573793/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-34-45_1350573793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..837b710aee7acf07635f64a96f22e0b704307769 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-34-45_1350573793/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -158.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -161.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -164.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -167.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -170.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -173.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -176.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -179.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -182.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -185.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -191.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -194.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -197.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -200.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -203.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -206.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -209.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -212.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -215.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -218.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -221.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -224.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -227.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -230.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -233.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -236.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -239.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -242.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -245.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -248.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -251.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -254.7883861041939, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -257.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -260.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -263.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -266.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -269.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -272.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -272.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -272.78838610419393, + -193.50307528450546, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -274.28838610419393, + -190.90499907315214, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -275.78838610419393, + -188.30692286179882, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -277.28838610419393, + -185.7088466504455, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -278.78838610419393, + -183.1107704390922, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -280.28838610419393, + -180.51269422773888, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -281.78838610419393, + -177.91461801638556, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -283.28838610419393, + -175.31654180503224, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -284.78838610419393, + -172.71846559367893, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -286.28838610419393, + -170.1203893823256, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -287.78838610419393, + -167.5223131709723, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -289.28838610419393, + -164.92423695961898, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -290.78838610419393, + -162.32616074826566, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -292.28838610419393, + -159.72808453691235, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -293.78838610419393, + -157.13000832555903, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -295.28838610419393, + -154.53193211420572, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -296.78838610419393, + -151.9338559028524, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -298.28838610419393, + -149.33577969149908, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -299.78838610419393, + -146.73770348014577, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -301.28838610419393, + -144.13962726879245, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -302.78838610419393, + -141.54155105743914, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -304.28838610419393, + -138.94347484608582, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -305.78838610419393, + -136.3453986347325, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -307.28838610419393, + -133.7473224233792, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -308.78838610419393, + -131.14924621202587, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -310.28838610419393, + -128.55117000067256, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -311.78838610419393, + -125.95309378931924, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -313.28838610419393, + -123.35501757796592, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -314.78838610419393, + -120.75694136661261, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -316.28838610419393, + -118.15886515525929, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -317.78838610419393, + -115.56078894390598, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -319.28838610419393, + -112.96271273255266, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -320.78838610419393, + -110.36463652119934, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -322.28838610419393, + -107.76656030984603, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -323.78838610419393, + -105.16848409849271, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -325.28838610419393, + -102.5704078871394, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -326.78838610419393, + -99.97233167578608, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -328.28838610419393, + -97.37425546443276, + 3.218516878486543 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -328.28838610419393, + -97.37425546443276, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -330.88646231554725, + -95.87425546443276, + 3.218516878486543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -333.48453852690056, + -94.37425546443276, + 3.218516878486543 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-35-52_1605894428/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-35-52_1605894428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8752b3a0241b974a6750c9a5dab626093abe6fd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-35-52_1605894428/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -15.874079251711875, + -816.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.874079251711875, + -813.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -15.874079251711875, + -810.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -15.874079251711875, + -807.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -15.874079251711875, + -804.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -15.874079251711875, + -801.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -15.874079251711875, + -798.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -15.874079251711875, + -795.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -15.874079251711875, + -792.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -15.874079251711875, + -789.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -15.874079251711875, + -786.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -15.874079251711875, + -783.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -15.874079251711875, + -780.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -15.874079251711875, + -777.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -15.874079251711875, + -774.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -15.874079251711875, + -771.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -15.874079251711875, + -768.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -15.874079251711875, + -765.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -15.874079251711875, + -762.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -15.874079251711875, + -759.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -15.874079251711875, + -756.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -15.874079251711875, + -753.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -15.874079251711875, + -750.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -15.874079251711875, + -747.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -15.874079251711875, + -744.6933292857269, + -4.363682333818976 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.874079251711875, + -744.6933292857269, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -17.374079251711873, + -742.0952530743737, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -18.874079251711873, + -739.4971768630203, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -20.374079251711873, + -736.8991006516669, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -21.874079251711873, + -734.3010244403135, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -23.374079251711873, + -731.7029482289602, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -24.874079251711873, + -729.1048720176068, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -26.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -26.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -26.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -26.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -26.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -23.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -20.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -17.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -14.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -11.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -8.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -5.374079251711873, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2.3740792517118727, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 0.6259207482881273, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3.6259207482881273, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 6.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 9.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 12.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 15.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 18.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 21.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 24.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 27.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 30.625920748288127, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 33.625920748288124, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 36.625920748288124, + -726.5067958062534, + -4.363682333818976 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 36.625920748288124, + -726.5067958062534, + -4.363682333818976 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 36.625920748288124, + -726.5067958062534, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 38.125920748288124, + -723.9087195949, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 39.625920748288124, + -721.3106433835467, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 41.125920748288124, + -718.7125671721933, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 42.625920748288124, + -716.1144909608399, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 44.125920748288124, + -713.5164147494866, + -4.363682333818976 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 44.125920748288124, + -713.5164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 46.72399695964144, + -712.0164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 49.322073170994756, + -710.5164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 51.92014938234807, + -709.0164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 54.51822559370139, + -707.5164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 57.116301805054704, + -706.0164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 59.71437801640802, + -704.5164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 62.312454227761336, + -703.0164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 64.91053043911465, + -701.5164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 67.50860665046797, + -700.0164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 70.10668286182128, + -698.5164147494866, + -4.363682333818976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 72.7047590731746, + -697.0164147494866, + -4.363682333818976 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-36-27_1789366143/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-36-27_1789366143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a44d0382e8a70db85bea7a87dde2d5e3a91a554 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-36-27_1789366143/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 915.5435618086806, + -318.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 915.5435618086806, + -321.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 915.5435618086806, + -324.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 915.5435618086806, + -327.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 915.5435618086806, + -330.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 915.5435618086806, + -333.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 915.5435618086806, + -336.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 915.5435618086806, + -339.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 915.5435618086806, + -342.9014608800543, + 4.675368731393268 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 915.5435618086806, + -342.9014608800543, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 917.0435618086806, + -345.4995370914076, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 918.5435618086806, + -348.0976133027609, + 4.675368731393268 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 918.5435618086806, + -348.0976133027609, + 4.675368731393268 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 918.5435618086806, + -348.0976133027609, + 4.675368731393268 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 918.5435618086806, + -348.0976133027609, + 4.675368731393268 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 918.5435618086806, + -348.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 915.9454855973272, + -349.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 913.3474093859738, + -351.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 910.7493331746205, + -352.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 908.1512569632671, + -354.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 905.5531807519137, + -355.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 902.9551045405603, + -357.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 900.357028329207, + -358.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 897.7589521178536, + -360.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 895.1608759065002, + -361.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 892.5627996951469, + -363.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 889.9647234837935, + -364.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 887.3666472724401, + -366.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 884.7685710610867, + -367.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 882.1704948497334, + -369.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 879.57241863838, + -370.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 876.9743424270266, + -372.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 874.3762662156732, + -373.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 871.7781900043199, + -375.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 869.1801137929665, + -376.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 866.5820375816131, + -378.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 863.9839613702597, + -379.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 861.3858851589064, + -381.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 858.787808947553, + -382.5976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 856.1897327361996, + -384.0976133027609, + 4.675368731393268 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 856.1897327361996, + -384.0976133027609, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 854.6897327361996, + -386.69568951411424, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 853.1897327361996, + -389.29376572546755, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 851.6897327361996, + -391.89184193682087, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 850.1897327361996, + -394.4899181481742, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 848.6897327361996, + -397.0879943595275, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 847.1897327361996, + -399.6860705708808, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 845.6897327361996, + -402.28414678223413, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 844.1897327361996, + -404.88222299358745, + 4.675368731393268 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 842.6897327361996, + -407.48029920494076, + 4.675368731393268 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-37-29_1875335928/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-37-29_1875335928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54fc4f7ed4d4acb8d1c681d670451c32afe9c3d9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-37-29_1875335928/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 866.0251161231866, + -429.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 869.0251161231866, + -429.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 872.0251161231866, + -429.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 875.0251161231866, + -429.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 878.0251161231866, + -429.05329156495617, + 3.3320803786477953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 878.0251161231866, + -429.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 880.6231923345399, + -427.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 883.2212685458933, + -426.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 885.8193447572467, + -424.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 888.4174209686, + -423.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 891.0154971799534, + -421.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 893.6135733913068, + -420.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 896.2116496026601, + -418.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 898.8097258140135, + -417.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 901.4078020253669, + -415.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 904.0058782367203, + -414.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 906.6039544480736, + -412.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 909.202030659427, + -411.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 911.8001068707804, + -409.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 914.3981830821338, + -408.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 916.9962592934871, + -406.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 919.5943355048405, + -405.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 922.1924117161939, + -403.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 924.7904879275472, + -402.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 927.3885641389006, + -400.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 929.986640350254, + -399.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 932.5847165616074, + -397.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 935.1827927729607, + -396.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 937.7808689843141, + -394.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 940.3789451956675, + -393.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 942.9770214070209, + -391.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 945.5750976183742, + -390.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 948.1731738297276, + -388.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 950.771250041081, + -387.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 953.3693262524343, + -385.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 955.9674024637877, + -384.05329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 958.5654786751411, + -382.55329156495617, + 3.3320803786477953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 958.5654786751411, + -382.55329156495617, + 3.3320803786477953 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 958.5654786751411, + -382.55329156495617, + 3.3320803786477953 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 958.5654786751411, + -382.55329156495617, + 3.3320803786477953 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 958.5654786751411, + -382.55329156495617, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 957.0654786751411, + -379.95521535360285, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 955.5654786751411, + -377.35713914224954, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 954.0654786751411, + -374.7590629308962, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 952.5654786751411, + -372.1609867195429, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 951.0654786751411, + -369.5629105081896, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 949.5654786751411, + -366.9648342968363, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 948.0654786751411, + -364.36675808548296, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 946.5654786751411, + -361.76868187412964, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 945.0654786751411, + -359.1706056627763, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 943.5654786751411, + -356.572529451423, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 942.0654786751411, + -353.9744532400697, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 940.5654786751411, + -351.3763770287164, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 939.0654786751411, + -348.77830081736306, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 937.5654786751411, + -346.18022460600974, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 936.0654786751411, + -343.58214839465643, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 934.5654786751411, + -340.9840721833031, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 933.0654786751411, + -338.3859959719498, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 931.5654786751411, + -335.7879197605965, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 930.0654786751411, + -333.18984354924316, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 928.5654786751411, + -330.59176733788985, + 3.3320803786477953 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 928.5654786751411, + -330.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 928.5654786751411, + -327.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 928.5654786751411, + -324.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 928.5654786751411, + -321.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 928.5654786751411, + -318.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 928.5654786751411, + -315.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 928.5654786751411, + -312.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 928.5654786751411, + -309.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 928.5654786751411, + -306.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 928.5654786751411, + -303.59176733788985, + 3.3320803786477953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 928.5654786751411, + -300.59176733788985, + 3.3320803786477953 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-38-3_1784639529/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-38-3_1784639529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a95b1846e407adde0c19ea19eab044b30febc040 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-38-3_1784639529/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -72.00053601452944, + -727.718246730759, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -73.50053601452944, + -725.1201705194057, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -75.00053601452944, + -722.5220943080524, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -76.50053601452944, + -719.924018096699, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -78.00053601452944, + -717.3259418853456, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -79.50053601452944, + -714.7278656739923, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.00053601452944, + -712.1297894626389, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -82.50053601452944, + -709.5317132512855, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -84.00053601452944, + -706.9336370399321, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -85.50053601452944, + -704.3355608285788, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -87.00053601452944, + -701.7374846172254, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -88.50053601452944, + -699.139408405872, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -90.00053601452944, + -696.5413321945186, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -91.50053601452944, + -693.9432559831653, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -93.00053601452944, + -691.3451797718119, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -94.50053601452944, + -688.7471035604585, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -96.00053601452944, + -686.1490273491052, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -97.50053601452944, + -683.5509511377518, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -99.00053601452944, + -680.9528749263984, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -100.50053601452944, + -678.354798715045, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -102.00053601452944, + -675.7567225036917, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -103.50053601452944, + -673.1586462923383, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -105.00053601452944, + -670.5605700809849, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -106.50053601452944, + -667.9624938696315, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -108.00053601452944, + -665.3644176582782, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -109.50053601452944, + -662.7663414469248, + 1.2984399588333693 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -109.50053601452944, + -662.7663414469248, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -112.09861222588276, + -661.2663414469248, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.69668843723608, + -659.7663414469248, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -117.29476464858939, + -658.2663414469248, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.89284085994271, + -656.7663414469248, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.49091707129602, + -655.2663414469248, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -125.08899328264934, + -653.7663414469248, + 1.2984399588333693 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -125.08899328264934, + -653.7663414469248, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -126.58899328264934, + -651.1682652355714, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -128.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -128.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -128.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -125.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -122.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -119.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -116.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -113.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -110.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -110.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -110.08899328264934, + -648.570189024218, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -108.58899328264934, + -645.9721128128647, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -107.08899328264934, + -643.3740366015113, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -105.58899328264934, + -640.7759603901579, + 1.2984399588333693 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -105.58899328264934, + -640.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -102.99091707129602, + -639.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -100.39284085994271, + -637.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -97.79476464858939, + -636.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -95.19668843723608, + -634.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -92.59861222588276, + -633.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -90.00053601452944, + -631.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -87.40245980317613, + -630.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -84.80438359182281, + -628.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -82.2063073804695, + -627.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -79.60823116911618, + -625.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -77.01015495776286, + -624.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -74.41207874640955, + -622.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -71.81400253505623, + -621.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -69.21592632370292, + -619.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -66.6178501123496, + -618.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -64.01977390099628, + -616.7759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -61.42169768964297, + -615.2759603901579, + 1.2984399588333693 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -61.42169768964297, + -615.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -58.42169768964297, + -615.2759603901579, + 1.2984399588333693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -55.42169768964297, + -615.2759603901579, + 1.2984399588333693 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-39-18_1597322404/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-39-18_1597322404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..347bbb131b810feed66d68701d67fd9f7cda9f04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-39-18_1597322404/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -177.74049086321293, + -341.45234605943523, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -179.24049086321293, + -344.05042227078854, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -180.74049086321293, + -346.64849848214186, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -182.24049086321293, + -349.2465746934952, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -183.74049086321293, + -351.8446509048485, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -185.24049086321293, + -354.4427271162018, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -186.74049086321293, + -357.0408033275551, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -188.24049086321293, + -359.63887953890844, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -189.74049086321293, + -362.23695575026176, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -191.24049086321293, + -364.8350319616151, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -192.74049086321293, + -367.4331081729684, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -194.24049086321293, + -370.0311843843217, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -195.74049086321293, + -372.629260595675, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -197.24049086321293, + -375.22733680702834, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -198.74049086321293, + -377.82541301838165, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -200.24049086321293, + -380.42348922973497, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -201.74049086321293, + -383.0215654410883, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -203.24049086321293, + -385.6196416524416, + 4.486323366562658 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -203.24049086321293, + -385.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -203.24049086321293, + -388.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -203.24049086321293, + -391.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -203.24049086321293, + -394.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -203.24049086321293, + -397.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -203.24049086321293, + -400.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -203.24049086321293, + -403.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -203.24049086321293, + -406.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -203.24049086321293, + -409.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -203.24049086321293, + -412.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -203.24049086321293, + -415.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -203.24049086321293, + -418.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -203.24049086321293, + -421.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -203.24049086321293, + -424.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -203.24049086321293, + -427.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -203.24049086321293, + -430.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -203.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -203.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -203.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -203.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -203.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -200.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -197.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -194.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -194.24049086321293, + -433.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -191.6424146518596, + -432.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -189.0443384405063, + -430.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -186.44626222915298, + -429.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -183.84818601779966, + -427.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -181.25010980644635, + -426.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -178.65203359509303, + -424.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -176.05395738373971, + -423.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -173.4558811723864, + -421.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -170.85780496103308, + -420.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -168.25972874967977, + -418.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -165.66165253832645, + -417.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -163.06357632697313, + -415.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -160.46550011561982, + -414.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -157.8674239042665, + -412.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -155.2693476929132, + -411.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -152.67127148155987, + -409.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -150.07319527020655, + -408.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -147.47511905885324, + -406.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -144.87704284749992, + -405.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -142.2789666361466, + -403.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -139.6808904247933, + -402.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -137.08281421343997, + -400.6196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -134.48473800208666, + -399.1196416524416, + 4.486323366562658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -131.88666179073334, + -397.6196416524416, + 4.486323366562658 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-41-58_1432114613/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-41-58_1432114613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b6928feb5f0f3c823d5d1aa1d78f74edd602329 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-41-58_1432114613/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1422.9514891480706, + -276.7455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1420.3534129367172, + -275.2455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1417.7553367253638, + -273.7455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1415.1572605140104, + -272.2455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1412.559184302657, + -270.7455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1409.9611080913037, + -269.2455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1407.3630318799503, + -267.7455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1404.764955668597, + -266.2455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1402.1668794572436, + -264.7455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1399.5688032458902, + -263.2455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1396.9707270345368, + -261.7455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1394.3726508231834, + -260.2455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1391.77457461183, + -258.7455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1389.1764984004767, + -257.2455252417415, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1386.5784221891233, + -255.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1383.98034597777, + -254.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1381.3822697664166, + -252.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1378.7841935550632, + -251.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1376.1861173437098, + -249.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1373.5880411323565, + -248.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1370.989964921003, + -246.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1368.3918887096497, + -245.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1365.7938124982963, + -243.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1363.195736286943, + -242.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1360.5976600755896, + -240.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1357.9995838642362, + -239.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1355.4015076528829, + -237.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1352.8034314415295, + -236.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1350.205355230176, + -234.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1347.6072790188227, + -233.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1345.0092028074694, + -231.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1342.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1342.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1339.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1336.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1333.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1336.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1339.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1342.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1345.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1348.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1351.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1354.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1357.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1357.411126596116, + -230.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1360.0092028074694, + -228.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1362.6072790188227, + -227.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1365.205355230176, + -225.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1367.8034314415295, + -224.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1370.4015076528829, + -222.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1372.9995838642362, + -221.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1375.5976600755896, + -219.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1378.195736286943, + -218.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1380.7938124982963, + -216.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1383.3918887096497, + -215.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1385.989964921003, + -213.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1388.5880411323565, + -212.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1391.1861173437098, + -210.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1393.7841935550632, + -209.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1396.3822697664166, + -207.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1398.98034597777, + -206.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1401.5784221891233, + -204.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1404.1764984004767, + -203.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1406.77457461183, + -201.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1409.3726508231834, + -200.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1411.9707270345368, + -198.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1414.5688032458902, + -197.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1417.1668794572436, + -195.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1419.764955668597, + -194.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1422.3630318799503, + -192.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1424.9611080913037, + -191.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1427.559184302657, + -189.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1430.1572605140104, + -188.24552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1432.7553367253638, + -186.74552524174152, + -1.119247697030346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1435.3534129367172, + -185.24552524174152, + -1.119247697030346 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-44-22_1909002904/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-44-22_1909002904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..582c5eec7c31d8128dd1eac3a3197ec3f4edf82b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-44-22_1909002904/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -240.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -237.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -234.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -231.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -228.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -225.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -222.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -219.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -216.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -213.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -210.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -207.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -204.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -201.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -198.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -192.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -189.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -189.34703109860527, + -257.7271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -186.74895488725195, + -256.2271734380527, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -184.15087867589864, + -254.72717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -181.55280246454532, + -253.22717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -178.954726253192, + -251.72717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -176.3566500418387, + -250.22717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -173.75857383048537, + -248.72717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -171.16049761913206, + -247.22717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -168.56242140777874, + -245.72717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -165.96434519642543, + -244.22717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -163.3662689850721, + -242.72717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -160.7681927737188, + -241.22717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -158.17011656236548, + -239.72717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -155.57204035101216, + -238.22717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -152.97396413965885, + -236.72717343805272, + 4.727361059547897 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -152.97396413965885, + -236.72717343805272, + 4.727361059547897 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -152.97396413965885, + -236.72717343805272, + 4.727361059547897 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.97396413965885, + -236.72717343805272, + 4.727361059547897 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -152.97396413965885, + -236.72717343805272, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -154.47396413965885, + -234.1290972266994, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -155.97396413965885, + -231.53102101534608, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -157.47396413965885, + -228.93294480399277, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -158.97396413965885, + -226.33486859263945, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -160.47396413965885, + -223.73679238128614, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -161.97396413965885, + -221.13871616993282, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -163.47396413965885, + -218.5406399585795, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -164.97396413965885, + -215.9425637472262, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -166.47396413965885, + -213.34448753587287, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -167.97396413965885, + -210.74641132451956, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -169.47396413965885, + -208.14833511316624, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -170.97396413965885, + -205.55025890181292, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -172.47396413965885, + -202.9521826904596, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -173.97396413965885, + -200.3541064791063, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -175.47396413965885, + -197.75603026775298, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -176.97396413965885, + -195.15795405639966, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -178.47396413965885, + -192.55987784504634, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -179.97396413965885, + -189.96180163369303, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -181.47396413965885, + -187.3637254223397, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -182.97396413965885, + -184.7656492109864, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -184.47396413965885, + -182.16757299963308, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -185.97396413965885, + -179.56949678827976, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -187.47396413965885, + -176.97142057692645, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -188.97396413965885, + -174.37334436557313, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -190.47396413965885, + -171.77526815421982, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -191.97396413965885, + -169.1771919428665, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -193.47396413965885, + -166.57911573151318, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -194.97396413965885, + -163.98103952015987, + 4.727361059547897 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -194.97396413965885, + -163.98103952015987, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -197.57204035101216, + -162.48103952015987, + 4.727361059547897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -200.17011656236548, + -160.98103952015987, + 4.727361059547897 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-44-53_165344818/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-44-53_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea138f44d440c5271daf4740edeb95bf13990e5f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-44-53_165344818/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 337.89935877260655, + 129.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 335.30128256125323, + 131.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 332.7032063498999, + 132.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 330.1051301385466, + 134.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 327.5070539271933, + 135.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 324.90897771583997, + 137.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 322.31090150448665, + 138.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 319.71282529313333, + 140.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 317.11474908178, + 141.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 314.5166728704267, + 143.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 311.9185966590734, + 144.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 309.32052044772007, + 146.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.72244423636675, + 147.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 304.12436802501344, + 149.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 301.5262918136601, + 150.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.9282156023068, + 152.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 296.3301393909535, + 153.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 293.7320631796002, + 155.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 291.13398696824686, + 156.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 288.53591075689354, + 158.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.9378345455402, + 159.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 283.3397583341869, + 161.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 280.7416821228336, + 162.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 278.1436059114803, + 164.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 275.54552970012696, + 165.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 272.94745348877365, + 167.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 270.34937727742033, + 168.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 267.751301066067, + 170.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 265.1532248547137, + 171.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 262.5551486433604, + 173.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 259.95707243200707, + 174.64236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 257.35899622065375, + 176.14236399023704, + -4.666365549967109 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 257.35899622065375, + 176.14236399023704, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 255.85899622065375, + 178.74044020159036, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 254.35899622065375, + 181.33851641294368, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 252.85899622065375, + 183.936592624297, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 251.35899622065375, + 186.5346688356503, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 249.85899622065375, + 189.13274504700362, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 248.35899622065375, + 191.73082125835694, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 246.85899622065375, + 194.32889746971026, + -4.666365549967109 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 246.85899622065375, + 194.32889746971026, + -4.666365549967109 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 246.85899622065375, + 194.32889746971026, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 248.35899622065375, + 196.92697368106357, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 249.85899622065375, + 199.5250498924169, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 251.35899622065375, + 202.1231261037702, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 252.85899622065375, + 204.72120231512352, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 254.35899622065375, + 207.31927852647684, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 255.85899622065375, + 209.91735473783015, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 257.35899622065375, + 212.51543094918347, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 258.85899622065375, + 215.11350716053678, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 260.35899622065375, + 217.7115833718901, + -4.666365549967109 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 260.35899622065375, + 217.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 262.95707243200707, + 219.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 265.5551486433604, + 220.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 268.1532248547137, + 222.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 270.751301066067, + 223.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 273.34937727742033, + 225.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 275.94745348877365, + 226.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 278.54552970012696, + 228.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 281.1436059114803, + 229.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 283.7416821228336, + 231.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 286.3397583341869, + 232.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 288.9378345455402, + 234.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 291.53591075689354, + 235.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 294.13398696824686, + 237.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 296.7320631796002, + 238.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 299.3301393909535, + 240.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 301.9282156023068, + 241.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 304.5262918136601, + 243.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 307.12436802501344, + 244.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 309.72244423636675, + 246.2115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 312.32052044772007, + 247.7115833718901, + -4.666365549967109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 314.9185966590734, + 249.2115833718901, + -4.666365549967109 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-45-36_1395235128/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-45-36_1395235128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e507d1cdab1d12e6393dfd01fa5800b852f8b4c1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-45-36_1395235128/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 21.59734322569471, + -569.261821350073, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 18.999267014341395, + -567.761821350073, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 16.40119080298808, + -566.261821350073, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 13.803114591634763, + -564.761821350073, + 4.62342431018412 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 13.803114591634763, + -564.761821350073, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 12.303114591634763, + -562.1637451387196, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 10.803114591634763, + -559.5656689273662, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 9.303114591634763, + -556.9675927160129, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 7.803114591634764, + -554.3695165046595, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 6.303114591634765, + -551.7714402933061, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4.803114591634766, + -549.1733640819527, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3.303114591634767, + -546.5752878705994, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1.8031145916347675, + -543.977211659246, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 0.30311459163476817, + -541.3791354478926, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1.1968854083652312, + -538.7810592365392, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2.6968854083652305, + -536.1829830251859, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -4.19688540836523, + -533.5849068138325, + 4.62342431018412 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -4.19688540836523, + -533.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -4.19688540836523, + -530.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -4.19688540836523, + -527.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -4.19688540836523, + -524.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -4.19688540836523, + -521.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -4.19688540836523, + -518.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -4.19688540836523, + -515.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -4.19688540836523, + -512.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -4.19688540836523, + -509.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -4.19688540836523, + -506.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.19688540836523, + -503.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -4.19688540836523, + -500.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -4.19688540836523, + -497.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -4.19688540836523, + -494.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -4.19688540836523, + -491.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -4.19688540836523, + -488.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -4.19688540836523, + -485.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -4.19688540836523, + -482.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -4.19688540836523, + -479.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -4.19688540836523, + -476.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -4.19688540836523, + -473.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -4.19688540836523, + -470.5849068138325, + 4.62342431018412 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -4.19688540836523, + -470.5849068138325, + 4.62342431018412 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -4.19688540836523, + -470.5849068138325, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2.696885408365229, + -467.9868306024792, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1.1968854083652287, + -465.3887543911259, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 0.3031145916347717, + -462.79067817977256, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1.8031145916347722, + -460.19260196841924, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3.3031145916347726, + -457.5945257570659, + 4.62342431018412 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3.3031145916347726, + -457.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 5.901190802988088, + -456.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 8.499267014341404, + -454.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 11.09734322569472, + -453.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 13.695419437048036, + -451.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 16.293495648401354, + -450.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 18.89157185975467, + -448.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 21.489648071107986, + -447.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 24.087724282461302, + -445.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 26.685800493814618, + -444.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 29.283876705167934, + -442.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 31.88195291652125, + -441.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 34.480029127874566, + -439.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 37.07810533922788, + -438.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 39.6761815505812, + -436.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 42.274257761934514, + -435.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 44.87233397328783, + -433.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 47.470410184641146, + -432.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 50.06848639599446, + -430.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 52.66656260734778, + -429.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 55.264638818701094, + -427.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 57.86271503005441, + -426.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 60.460791241407726, + -424.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 63.05886745276104, + -423.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 65.65694366411435, + -421.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 68.25501987546767, + -420.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 70.85309608682098, + -418.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 73.4511722981743, + -417.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 76.04924850952762, + -415.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 78.64732472088093, + -414.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 81.24540093223425, + -412.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 83.84347714358756, + -411.0945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 86.44155335494088, + -409.5945257570659, + 4.62342431018412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 89.0396295662942, + -408.0945257570659, + 4.62342431018412 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-46-48_1351797369/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-46-48_1351797369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..626d4f4a47bd9ac424a291d402756a25e1d41a8b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-46-48_1351797369/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.4706733080793, + -361.03700705993947, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.9706733080793, + -358.43893084858615, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 413.4706733080793, + -355.84085463723284, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 414.9706733080793, + -353.2427784258795, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 416.4706733080793, + -350.6447022145262, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 417.9706733080793, + -348.0466260031729, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 419.4706733080793, + -345.4485497918196, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 420.9706733080793, + -342.85047358046626, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 422.4706733080793, + -340.25239736911294, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 423.9706733080793, + -337.6543211577596, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 425.4706733080793, + -335.0562449464063, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 426.9706733080793, + -332.458168735053, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 428.4706733080793, + -329.8600925236997, + 3.4881823360313433 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 428.4706733080793, + -329.8600925236997, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 431.06874951943263, + -328.3600925236997, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 433.66682573078594, + -326.8600925236997, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 436.26490194213926, + -325.3600925236997, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 438.8629781534926, + -323.8600925236997, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 441.4610543648459, + -322.3600925236997, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 444.0591305761992, + -320.8600925236997, + 3.4881823360313433 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 444.0591305761992, + -320.8600925236997, + 3.4881823360313433 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 444.0591305761992, + -320.8600925236997, + 3.4881823360313433 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 444.0591305761992, + -320.8600925236997, + 3.4881823360313433 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 444.0591305761992, + -320.8600925236997, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 445.5591305761992, + -323.458168735053, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 447.0591305761992, + -326.0562449464063, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 448.5591305761992, + -328.6543211577596, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 450.0591305761992, + -331.25239736911294, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 451.5591305761992, + -333.85047358046626, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 453.0591305761992, + -336.4485497918196, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 454.5591305761992, + -339.0466260031729, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 456.0591305761992, + -341.6447022145262, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 457.5591305761992, + -344.2427784258795, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 459.0591305761992, + -346.84085463723284, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 460.5591305761992, + -349.43893084858615, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 462.0591305761992, + -352.03700705993947, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 463.5591305761992, + -354.6350832712928, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 465.0591305761992, + -357.2331594826461, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 466.5591305761992, + -359.8312356939994, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 468.0591305761992, + -362.42931190535273, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 469.5591305761992, + -365.02738811670605, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 471.0591305761992, + -367.62546432805937, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 472.5591305761992, + -370.2235405394127, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 474.0591305761992, + -372.821616750766, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 475.5591305761992, + -375.4196929621193, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 477.0591305761992, + -378.01776917347263, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 478.5591305761992, + -380.61584538482595, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 480.0591305761992, + -383.21392159617926, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 481.5591305761992, + -385.8119978075326, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 483.0591305761992, + -388.4100740188859, + 3.4881823360313433 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 483.0591305761992, + -388.4100740188859, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 485.6572067875525, + -389.9100740188859, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 488.25528299890584, + -391.4100740188859, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 490.85335921025916, + -392.9100740188859, + 3.4881823360313433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 493.4514354216125, + -394.4100740188859, + 3.4881823360313433 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-47-16_492067917/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-47-16_492067917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f098b46b722e466439c9834f5a1b650b1746d162 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-47-16_492067917/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.95294853754075, + -633.5828460353323, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -172.45294853754075, + -636.1809222466857, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -170.95294853754075, + -638.778998458039, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -169.45294853754075, + -641.3770746693924, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -167.95294853754075, + -643.9751508807458, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -166.45294853754075, + -646.5732270920992, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -164.95294853754075, + -649.1713033034525, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -163.45294853754075, + -651.7693795148059, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -161.95294853754075, + -654.3674557261593, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -160.45294853754075, + -656.9655319375127, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -158.95294853754075, + -659.563608148866, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -157.45294853754075, + -662.1616843602194, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -155.95294853754075, + -664.7597605715728, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -154.45294853754075, + -667.3578367829261, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -152.95294853754075, + -669.9559129942795, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -151.45294853754075, + -672.5539892056329, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -149.95294853754075, + -675.1520654169863, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -148.45294853754075, + -677.7501416283396, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -146.95294853754075, + -680.348217839693, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -145.45294853754075, + -682.9462940510464, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -143.95294853754075, + -685.5443702623998, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -142.45294853754075, + -688.1424464737531, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -140.95294853754075, + -690.7405226851065, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -139.45294853754075, + -693.3385988964599, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -137.95294853754075, + -695.9366751078132, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -136.45294853754075, + -698.5347513191666, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -134.95294853754075, + -701.13282753052, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -133.45294853754075, + -703.7309037418734, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -131.95294853754075, + -706.3289799532267, + 1.8477835778668528 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -131.95294853754075, + -706.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -131.95294853754075, + -709.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -131.95294853754075, + -712.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -131.95294853754075, + -715.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -131.95294853754075, + -718.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -131.95294853754075, + -721.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -131.95294853754075, + -724.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -131.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -131.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -131.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -131.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -128.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -125.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -122.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -119.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -116.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -113.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -110.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -107.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -104.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -101.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -98.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -95.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -92.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -89.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -86.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -83.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -80.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -77.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -74.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -71.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -68.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -65.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -62.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -59.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -56.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -53.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -50.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -47.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -44.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -41.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -38.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -38.95294853754075, + -727.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -36.35487232618743, + -725.8289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -33.75679611483412, + -724.3289799532267, + 1.8477835778668528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -31.1587199034808, + -722.8289799532267, + 1.8477835778668528 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-47-50_1504569917/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-47-50_1504569917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e05623da80adc769a3a57847eba1902278bf86ff --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-47-50_1504569917/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -257.6440861611242, + -52.4229038094896, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -256.1440861611242, + -55.02098002084291, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -254.64408616112422, + -57.61905623219623, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -253.14408616112422, + -60.217132443549545, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -251.64408616112422, + -62.81520865490286, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -250.14408616112422, + -65.41328486625618, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -248.64408616112422, + -68.0113610776095, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -247.14408616112422, + -70.60943728896281, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -245.64408616112422, + -73.20751350031613, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -244.14408616112422, + -75.80558971166944, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -242.64408616112422, + -78.40366592302276, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -241.14408616112422, + -81.00174213437607, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -239.64408616112422, + -83.59981834572939, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -238.14408616112422, + -86.1978945570827, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -236.64408616112422, + -88.79597076843602, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -235.14408616112422, + -91.39404697978934, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -233.64408616112422, + -93.99212319114265, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -232.14408616112422, + -96.59019940249597, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -230.64408616112422, + -99.18827561384929, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -229.14408616112422, + -101.7863518252026, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -227.64408616112422, + -104.38442803655592, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -226.14408616112422, + -106.98250424790923, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -224.64408616112422, + -109.58058045926255, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -223.14408616112422, + -112.17865667061587, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -221.64408616112422, + -114.77673288196918, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -220.14408616112422, + -117.3748090933225, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -218.64408616112422, + -119.97288530467581, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -217.14408616112422, + -122.57096151602913, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -215.64408616112422, + -125.16903772738245, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -214.14408616112422, + -127.76711393873576, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -212.64408616112422, + -130.36519015008906, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965954 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -211.14408616112422, + -132.96326636144238, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -209.64408616112422, + -135.5613425727957, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -208.14408616112422, + -138.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -206.64408616112422, + -140.75749499550233, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -205.14408616112422, + -143.35557120685564, + -3.161923805709668 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -205.14408616112422, + -143.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -205.14408616112422, + -146.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -205.14408616112422, + -149.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -205.14408616112422, + -152.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -205.14408616112422, + -155.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -205.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -205.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -205.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -205.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -205.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -202.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -199.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -196.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -193.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -193.14408616112422, + -158.35557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -190.5460099497709, + -156.85557120685564, + -3.161923805709668 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -190.5460099497709, + -156.85557120685564, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -189.0460099497709, + -154.25749499550233, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -187.5460099497709, + -151.659418784149, + -3.161923805709668 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -187.5460099497709, + -151.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -184.9479337384176, + -150.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -182.34985752706427, + -148.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -179.75178131571096, + -147.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -177.15370510435764, + -145.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -174.55562889300433, + -144.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -171.957552681651, + -142.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -169.3594764702977, + -141.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -166.76140025894438, + -139.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -164.16332404759106, + -138.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -161.56524783623775, + -136.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -158.96717162488443, + -135.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -156.3690954135311, + -133.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -153.7710192021778, + -132.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -151.17294299082448, + -130.659418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -148.57486677947117, + -129.159418784149, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -145.97679056811785, + -127.65941878414901, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -143.37871435676453, + -126.15941878414901, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -140.78063814541122, + -124.65941878414901, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -138.1825619340579, + -123.15941878414901, + -3.161923805709668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -135.58448572270458, + -121.65941878414901, + -3.161923805709668 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-48-28_680466996/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-48-28_680466996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..351043cccd820f699714fdd0bf34b02172a32b20 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-48-28_680466996/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1607.8996915816838, + 50.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1605.3016153703304, + 49.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1602.703539158977, + 47.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1600.1054629476237, + 46.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1597.5073867362703, + 44.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1594.909310524917, + 43.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1592.3112343135635, + 41.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1589.7131581022102, + 40.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1587.1150818908568, + 38.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1584.5170056795034, + 37.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1581.91892946815, + 35.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1579.3208532567967, + 34.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1576.7227770454433, + 32.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1574.12470083409, + 31.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1571.5266246227366, + 29.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1568.9285484113832, + 28.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1566.3304722000298, + 26.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1563.7323959886764, + 25.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1561.134319777323, + 23.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1558.5362435659697, + 22.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1555.9381673546163, + 20.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1553.340091143263, + 19.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1550.7420149319096, + 17.663798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1548.1439387205562, + 16.163798734289074, + -2.680310408753585 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1548.1439387205562, + 16.163798734289074, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1546.6439387205562, + 13.565722522935758, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1545.1439387205562, + 10.967646311582442, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1543.6439387205562, + 8.369570100229126, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1542.1439387205562, + 5.77149388887581, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1540.6439387205562, + 3.173417677522494, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1539.1439387205562, + 0.5753414661691778, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1537.6439387205562, + -2.022734745184138, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1536.1439387205562, + -4.620810956537454, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1534.6439387205562, + -7.21888716789077, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1533.1439387205562, + -9.816963379244086, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1531.6439387205562, + -12.415039590597402, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1530.1439387205562, + -15.013115801950718, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1528.6439387205562, + -17.611192013304034, + -2.680310408753585 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1528.6439387205562, + -17.611192013304034, + -2.680310408753585 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1528.6439387205562, + -17.611192013304034, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1530.1439387205562, + -20.20926822465735, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1531.6439387205562, + -22.807344436010666, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1533.1439387205562, + -25.405420647363982, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1534.6439387205562, + -28.0034968587173, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1536.1439387205562, + -30.601573070070614, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1537.6439387205562, + -33.19964928142393, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1539.1439387205562, + -35.797725492777246, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1540.6439387205562, + -38.39580170413056, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1542.1439387205562, + -40.99387791548388, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1543.6439387205562, + -43.591954126837194, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1545.1439387205562, + -46.19003033819051, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1546.6439387205562, + -48.788106549543826, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1548.1439387205562, + -51.38618276089714, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1549.6439387205562, + -53.98425897225046, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1551.1439387205562, + -56.582335183603774, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1552.6439387205562, + -59.18041139495709, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1554.1439387205562, + -61.77848760631041, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1555.6439387205562, + -64.37656381766372, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1557.1439387205562, + -66.97464002901704, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1558.6439387205562, + -69.57271624037035, + -2.680310408753585 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1558.6439387205562, + -69.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1558.6439387205562, + -72.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1558.6439387205562, + -75.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1558.6439387205562, + -78.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1558.6439387205562, + -81.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1558.6439387205562, + -84.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1558.6439387205562, + -87.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1558.6439387205562, + -90.57271624037035, + -2.680310408753585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1558.6439387205562, + -93.57271624037035, + -2.680310408753585 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-5-15_2040332871/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-5-15_2040332871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a02fcb36fe887ff4c2643d13a4b4f6b3bd285512 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-5-15_2040332871/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -76.74983528180599, + -451.2070407952559, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -75.24983528180599, + -448.6089645839026, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -73.74983528180599, + -446.0108883725493, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -72.24983528180599, + -443.412812161196, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -70.74983528180599, + -440.81473594984266, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -69.24983528180599, + -438.21665973848934, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -67.74983528180599, + -435.618583527136, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -66.24983528180599, + -433.0205073157827, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -64.74983528180599, + -430.4224311044294, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -63.249835281805986, + -427.8243548930761, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -61.749835281805986, + -425.22627868172276, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -60.249835281805986, + -422.62820247036944, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -58.749835281805986, + -420.03012625901613, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -57.249835281805986, + -417.4320500476628, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -55.749835281805986, + -414.8339738363095, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -54.249835281805986, + -412.2358976249562, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -52.749835281805986, + -409.63782141360286, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -51.249835281805986, + -407.03974520224955, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -49.749835281805986, + -404.44166899089623, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -48.249835281805986, + -401.8435927795429, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -46.749835281805986, + -399.2455165681896, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -45.249835281805986, + -396.6474403568363, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -43.749835281805986, + -394.04936414548297, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -42.249835281805986, + -391.45128793412965, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -40.749835281805986, + -388.85321172277634, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -39.249835281805986, + -386.255135511423, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -37.749835281805986, + -383.6570593000697, + -3.012660144787905 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -37.749835281805986, + -383.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -37.749835281805986, + -380.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -37.749835281805986, + -377.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -37.749835281805986, + -374.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -37.749835281805986, + -371.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -37.749835281805986, + -368.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -37.749835281805986, + -365.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -37.749835281805986, + -362.6570593000697, + -3.012660144787905 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -37.749835281805986, + -362.6570593000697, + -3.012660144787905 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -37.749835281805986, + -362.6570593000697, + -3.012660144787905 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -37.749835281805986, + -362.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -40.3479114931593, + -361.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -42.94598770451262, + -359.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -45.544063915865934, + -358.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -48.14214012721925, + -356.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -50.740216338572566, + -355.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -53.33829254992588, + -353.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -55.9363687612792, + -352.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -58.534444972632514, + -350.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -61.13252118398583, + -349.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -63.730597395339146, + -347.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -66.32867360669246, + -346.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -68.92674981804578, + -344.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -71.5248260293991, + -343.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -74.12290224075241, + -341.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -76.72097845210573, + -340.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -79.31905466345904, + -338.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -81.91713087481236, + -337.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -84.51520708616567, + -335.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -87.11328329751899, + -334.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -89.7113595088723, + -332.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -92.30943572022562, + -331.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -94.90751193157894, + -329.6570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -97.50558814293225, + -328.1570593000697, + -3.012660144787905 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -97.50558814293225, + -328.1570593000697, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -99.00558814293225, + -325.5589830887164, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -100.50558814293225, + -322.9609068773631, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -102.00558814293225, + -320.36283066600976, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -103.50558814293225, + -317.76475445465644, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -105.00558814293225, + -315.1666782433031, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -106.50558814293225, + -312.5686020319498, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -108.00558814293225, + -309.9705258205965, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -109.50558814293225, + -307.3724496092432, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -111.00558814293225, + -304.77437339788986, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -112.50558814293225, + -302.17629718653654, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -114.00558814293225, + -299.5782209751832, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -115.50558814293225, + -296.9801447638299, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -117.00558814293225, + -294.3820685524766, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -118.50558814293225, + -291.7839923411233, + -3.012660144787905 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -120.00558814293225, + -289.18591612976996, + -3.012660144787905 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-50-48_1359512183/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-50-48_1359512183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcd710e039d8d0310d39875ced513c36845245e2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-50-48_1359512183/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 431.34607307864394, + -172.15054533103915, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 429.84607307864394, + -169.55246911968584, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 428.34607307864394, + -166.95439290833252, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 426.84607307864394, + -164.3563166969792, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 425.34607307864394, + -161.7582404856259, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 423.84607307864394, + -159.16016427427257, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 422.34607307864394, + -156.56208806291926, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 420.84607307864394, + -153.96401185156594, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 419.34607307864394, + -151.36593564021263, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 417.84607307864394, + -148.7678594288593, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 416.34607307864394, + -146.169783217506, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 414.84607307864394, + -143.57170700615268, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.34607307864394, + -140.97363079479936, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 411.84607307864394, + -138.37555458344605, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 410.34607307864394, + -135.77747837209273, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 408.84607307864394, + -133.17940216073941, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 407.34607307864394, + -130.5813259493861, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 405.84607307864394, + -127.98324973803278, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 404.34607307864394, + -125.38517352667947, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 402.84607307864394, + -122.78709731532615, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 401.34607307864394, + -120.18902110397283, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 399.84607307864394, + -117.59094489261952, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 398.34607307864394, + -114.9928686812662, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 396.84607307864394, + -112.39479246991289, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 395.34607307864394, + -109.79671625855957, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 393.84607307864394, + -107.19864004720625, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 392.34607307864394, + -104.60056383585294, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 390.84607307864394, + -102.00248762449962, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 389.34607307864394, + -99.4044114131463, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 387.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 387.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 387.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 384.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 381.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 378.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 375.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 372.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 369.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 366.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 363.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 360.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 357.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 354.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 351.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 348.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 345.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 342.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 339.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 336.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 333.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 330.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 330.84607307864394, + -96.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 328.2479968672906, + -95.30633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 325.6499206559373, + -93.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 323.051844444584, + -92.30633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 320.4537682332307, + -90.80633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 317.85569202187736, + -89.30633520179299, + -0.6114021273818908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 315.25761581052404, + -87.80633520179299, + -0.6114021273818908 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-52-16_1096689772/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-52-16_1096689772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5eb4519047e1578c7428e8cd9bf567f268ccbeb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-52-16_1096689772/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 431.07005326290476, + -354.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 431.07005326290476, + -351.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 431.07005326290476, + -348.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 431.07005326290476, + -345.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 431.07005326290476, + -342.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 431.07005326290476, + -339.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 431.07005326290476, + -336.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 431.07005326290476, + -333.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 431.07005326290476, + -330.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 431.07005326290476, + -327.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 431.07005326290476, + -324.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 431.07005326290476, + -321.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 431.07005326290476, + -318.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 431.07005326290476, + -315.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 431.07005326290476, + -312.65621376675665, + 0.4870868444606993 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 431.07005326290476, + -312.65621376675665, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 429.57005326290476, + -310.05813755540333, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 428.07005326290476, + -307.46006134405, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 426.57005326290476, + -304.8619851326967, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 425.07005326290476, + -302.2639089213434, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 423.57005326290476, + -299.66583270999007, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 422.07005326290476, + -297.06775649863675, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 420.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 420.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 420.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 420.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 420.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 420.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 423.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 423.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 423.57005326290476, + -294.46968028728344, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 425.07005326290476, + -291.8716040759301, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 426.57005326290476, + -289.2735278645768, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 428.07005326290476, + -286.6754516532235, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 429.57005326290476, + -284.0773754418702, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 431.07005326290476, + -281.47929923051686, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 432.57005326290476, + -278.88122301916354, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 434.07005326290476, + -276.2831468078102, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 435.57005326290476, + -273.6850705964569, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 437.07005326290476, + -271.0869943851036, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 438.57005326290476, + -268.4889181737503, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 440.07005326290476, + -265.89084196239696, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 441.57005326290476, + -263.29276575104365, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 443.07005326290476, + -260.69468953969033, + 0.4870868444606993 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 443.07005326290476, + -260.69468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 445.6681294742581, + -259.19468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 448.2662056856114, + -257.69468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 450.8642818969647, + -256.19468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 453.462358108318, + -254.69468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 456.06043431967134, + -253.19468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 458.65851053102466, + -251.69468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 461.256586742378, + -250.19468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 463.8546629537313, + -248.69468953969033, + 0.4870868444606993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 466.4527391650846, + -247.19468953969033, + 0.4870868444606993 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-55-19_243268139/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-55-19_243268139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275196b2315a87f6064c3e0972a0f016af5f98b5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-55-19_243268139/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1392.2078472620772, + 62.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1392.2078472620772, + 65.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1392.2078472620772, + 68.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1392.2078472620772, + 71.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1392.2078472620772, + 74.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1392.2078472620772, + 77.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1392.2078472620772, + 80.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1392.2078472620772, + 83.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1392.2078472620772, + 86.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1392.2078472620772, + 89.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1392.2078472620772, + 92.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1392.2078472620772, + 95.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1392.2078472620772, + 98.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1392.2078472620772, + 101.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1392.2078472620772, + 104.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1392.2078472620772, + 107.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1392.2078472620772, + 110.45645627384589, + -2.0300674683310618 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1392.2078472620772, + 110.45645627384589, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1393.7078472620772, + 113.0545324851992, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1395.2078472620772, + 115.65260869655252, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1396.7078472620772, + 118.25068490790584, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1398.2078472620772, + 120.84876111925915, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1399.7078472620772, + 123.44683733061247, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1401.2078472620772, + 126.04491354196578, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1402.7078472620772, + 128.6429897533191, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1404.2078472620772, + 131.24106596467243, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1405.7078472620772, + 133.83914217602575, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1407.2078472620772, + 136.43721838737906, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1408.7078472620772, + 139.03529459873238, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1410.2078472620772, + 141.6333708100857, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1411.7078472620772, + 144.231447021439, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1413.2078472620772, + 146.82952323279233, + -2.0300674683310618 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1413.2078472620772, + 146.82952323279233, + -2.0300674683310618 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1413.2078472620772, + 146.82952323279233, + -2.0300674683310618 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1413.2078472620772, + 146.82952323279233, + -2.0300674683310618 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1413.2078472620772, + 146.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1410.6097710507238, + 148.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1408.0116948393704, + 149.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1405.413618628017, + 151.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1402.8155424166637, + 152.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1400.2174662053103, + 154.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1397.619389993957, + 155.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1395.0213137826036, + 157.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1392.4232375712502, + 158.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1389.8251613598968, + 160.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1387.2270851485434, + 161.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1384.62900893719, + 163.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1382.0309327258367, + 164.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1379.4328565144833, + 166.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1376.83478030313, + 167.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1374.2367040917766, + 169.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1371.6386278804232, + 170.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1369.0405516690698, + 172.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1366.4424754577165, + 173.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1363.844399246363, + 175.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1361.2463230350097, + 176.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1358.6482468236563, + 178.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1356.050170612303, + 179.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1353.4520944009496, + 181.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1350.8540181895962, + 182.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1348.2559419782428, + 184.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1345.6578657668895, + 185.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1343.059789555536, + 187.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1340.4617133441827, + 188.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1337.8636371328294, + 190.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1335.265560921476, + 191.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1332.6674847101226, + 193.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1330.0694084987692, + 194.82952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1327.4713322874159, + 196.32952323279233, + -2.0300674683310618 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1327.4713322874159, + 196.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1324.4713322874159, + 196.32952323279233, + -2.0300674683310618 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1321.4713322874159, + 196.32952323279233, + -2.0300674683310618 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-57-26_968338082/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-57-26_968338082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09b730dd4dddc38cae5f1cb0ae9ea9ef820ac76c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-57-26_968338082/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1459.554531578822, + 254.55482935417965, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1458.054531578822, + 251.95675314282633, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1456.554531578822, + 249.358676931473, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1455.054531578822, + 246.7606007201197, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1453.554531578822, + 244.16252450876638, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1452.054531578822, + 241.56444829741307, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1450.554531578822, + 238.96637208605975, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1449.054531578822, + 236.36829587470643, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1447.554531578822, + 233.77021966335312, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1446.054531578822, + 231.1721434519998, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1444.554531578822, + 228.57406724064649, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1443.054531578822, + 225.97599102929317, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1441.554531578822, + 223.37791481793985, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1440.054531578822, + 220.77983860658654, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1438.554531578822, + 218.18176239523322, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1437.054531578822, + 215.5836861838799, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1435.554531578822, + 212.9856099725266, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1434.054531578822, + 210.38753376117327, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1432.554531578822, + 207.78945754981996, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1431.054531578822, + 205.19138133846664, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1429.554531578822, + 202.59330512711333, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1428.054531578822, + 199.99522891576, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1426.554531578822, + 197.3971527044067, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1425.054531578822, + 194.79907649305338, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1423.554531578822, + 192.20100028170006, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1422.054531578822, + 189.60292407034675, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1420.554531578822, + 187.00484785899343, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1419.054531578822, + 184.4067716476401, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1417.554531578822, + 181.8086954362868, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1416.054531578822, + 179.21061922493348, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1414.554531578822, + 176.61254301358017, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1413.054531578822, + 174.01446680222685, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1411.554531578822, + 171.41639059087353, + 2.7429087373605707 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1411.554531578822, + 171.41639059087353, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1411.554531578822, + 168.41639059087353, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1411.554531578822, + 165.41639059087353, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1411.554531578822, + 162.41639059087353, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1411.554531578822, + 159.41639059087353, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1411.554531578822, + 156.41639059087353, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1411.554531578822, + 153.41639059087353, + 2.7429087373605707 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1411.554531578822, + 153.41639059087353, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1413.054531578822, + 150.81831437952022, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1414.554531578822, + 148.2202381681669, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1416.054531578822, + 145.62216195681358, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1417.554531578822, + 143.02408574546027, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1419.054531578822, + 140.42600953410695, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1420.554531578822, + 137.82793332275364, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1422.054531578822, + 135.22985711140032, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1423.554531578822, + 132.631780900047, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1425.054531578822, + 130.0337046886937, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1426.554531578822, + 127.43562847734037, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1428.054531578822, + 124.83755226598706, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1429.554531578822, + 122.23947605463374, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1431.054531578822, + 119.64139984328042, + 2.7429087373605707 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1431.054531578822, + 119.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1431.054531578822, + 116.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1431.054531578822, + 113.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1431.054531578822, + 110.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1431.054531578822, + 107.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1431.054531578822, + 104.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1431.054531578822, + 101.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1431.054531578822, + 98.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1431.054531578822, + 95.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1431.054531578822, + 92.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1431.054531578822, + 89.64139984328042, + 2.7429087373605707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1431.054531578822, + 86.64139984328042, + 2.7429087373605707 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-58-9_722308542/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-58-9_722308542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3849971296fb724ef83b5591d07c56ce0337ce3b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-58-9_722308542/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 482.69299639027105, + -336.03774372679567, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 481.19299639027105, + -338.635819938149, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 479.69299639027105, + -341.2338961495023, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 478.19299639027105, + -343.8319723608556, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 476.69299639027105, + -346.43004857220893, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 475.19299639027105, + -349.02812478356225, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 473.69299639027105, + -351.62620099491556, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 472.19299639027105, + -354.2242772062689, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 470.69299639027105, + -356.8223534176222, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 469.19299639027105, + -359.4204296289755, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 467.69299639027105, + -362.0185058403288, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 466.19299639027105, + -364.61658205168214, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 464.69299639027105, + -367.21465826303546, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 463.19299639027105, + -369.8127344743888, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 461.69299639027105, + -372.4108106857421, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 460.19299639027105, + -375.0088868970954, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 458.69299639027105, + -377.6069631084487, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 457.19299639027105, + -380.20503931980204, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 455.69299639027105, + -382.80311553115536, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 454.19299639027105, + -385.4011917425087, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 452.69299639027105, + -387.999267953862, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 451.19299639027105, + -390.5973441652153, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 449.69299639027105, + -393.1954203765686, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 448.19299639027105, + -395.79349658792194, + 1.912612045513427 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 448.19299639027105, + -395.79349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 445.59492017891773, + -397.29349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 442.9968439675644, + -398.79349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 440.3987677562111, + -400.29349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 437.8006915448578, + -401.79349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 435.20261533350447, + -403.29349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 432.60453912215115, + -404.79349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 430.00646291079784, + -406.29349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 427.4083866994445, + -407.79349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 424.8103104880912, + -409.29349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 422.2122342767379, + -410.79349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 419.6141580653846, + -412.29349658792194, + 1.912612045513427 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 419.6141580653846, + -412.29349658792194, + 1.912612045513427 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 419.6141580653846, + -412.29349658792194, + 1.912612045513427 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 419.6141580653846, + -412.29349658792194, + 1.912612045513427 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 419.6141580653846, + -412.29349658792194, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 421.1141580653846, + -414.89157279927525, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 422.6141580653846, + -417.48964901062857, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 424.1141580653846, + -420.0877252219819, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 425.6141580653846, + -422.6858014333352, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 427.1141580653846, + -425.2838776446885, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 428.6141580653846, + -427.88195385604183, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 430.1141580653846, + -430.48003006739515, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 431.6141580653846, + -433.07810627874846, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 433.1141580653846, + -435.6761824901018, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 434.6141580653846, + -438.2742587014551, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 436.1141580653846, + -440.8723349128084, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 437.6141580653846, + -443.4704111241617, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 439.1141580653846, + -446.06848733551504, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 440.6141580653846, + -448.66656354686836, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 442.1141580653846, + -451.2646397582217, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 443.6141580653846, + -453.862715969575, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 445.1141580653846, + -456.4607921809283, + 1.912612045513427 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 445.1141580653846, + -456.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 445.1141580653846, + -459.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 445.1141580653846, + -462.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 445.1141580653846, + -465.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 445.1141580653846, + -468.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 445.1141580653846, + -471.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 445.1141580653846, + -474.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 445.1141580653846, + -477.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 445.1141580653846, + -480.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 445.1141580653846, + -483.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 445.1141580653846, + -486.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 445.1141580653846, + -489.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 445.1141580653846, + -492.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 445.1141580653846, + -495.4607921809283, + 1.912612045513427 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 445.1141580653846, + -498.4607921809283, + 1.912612045513427 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-6-45_378409503/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-6-45_378409503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fec41ea3ee6c18f514f060804f784b4f3d66884 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-6-45_378409503/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1258.6328596037433, + -145.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1258.6328596037433, + -148.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.6328596037433, + -151.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1258.6328596037433, + -154.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1258.6328596037433, + -157.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1258.6328596037433, + -160.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1258.6328596037433, + -163.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1258.6328596037433, + -166.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1258.6328596037433, + -169.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1258.6328596037433, + -172.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1258.6328596037433, + -175.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1258.6328596037433, + -178.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1258.6328596037433, + -181.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1258.6328596037433, + -184.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1258.6328596037433, + -187.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1258.6328596037433, + -190.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1258.6328596037433, + -193.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1258.6328596037433, + -196.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1258.6328596037433, + -199.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1258.6328596037433, + -202.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1258.6328596037433, + -205.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1258.6328596037433, + -208.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1258.6328596037433, + -211.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1258.6328596037433, + -214.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1258.6328596037433, + -217.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1258.6328596037433, + -220.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1258.6328596037433, + -223.96774945983012, + -0.1750026208638653 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1258.6328596037433, + -223.96774945983012, + -0.1750026208638653 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1258.6328596037433, + -223.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1261.2309358150967, + -225.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1263.82901202645, + -226.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1266.4270882378034, + -228.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1269.0251644491568, + -229.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1271.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1271.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1274.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1277.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1280.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1283.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1286.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1289.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1292.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1295.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1298.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1301.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1304.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1307.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1310.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1313.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1316.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1319.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1319.6232406605102, + -231.46774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1322.2213168718636, + -229.96774945983012, + -0.1750026208638653 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1322.2213168718636, + -229.96774945983012, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1323.7213168718636, + -227.3696732484768, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1325.2213168718636, + -224.77159703712348, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1326.7213168718636, + -222.17352082577017, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1328.2213168718636, + -219.57544461441685, + -0.1750026208638653 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1328.2213168718636, + -219.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1330.819393083217, + -218.07544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1333.4174692945703, + -216.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1336.0155455059237, + -215.07544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1338.613621717277, + -213.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1341.2116979286304, + -212.07544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1343.8097741399838, + -210.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1346.4078503513372, + -209.07544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1349.0059265626905, + -207.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1351.604002774044, + -206.07544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1354.2020789853973, + -204.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1356.8001551967507, + -203.07544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1359.398231408104, + -201.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1361.9963076194574, + -200.07544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1364.5943838308108, + -198.57544461441685, + -0.1750026208638653 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1364.5943838308108, + -198.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1367.5943838308108, + -198.57544461441685, + -0.1750026208638653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1370.5943838308108, + -198.57544461441685, + -0.1750026208638653 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-7-20_515530019/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-7-20_515530019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a46ee9dd75425be78c93e8aa59225facdd2cb8a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-7-20_515530019/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -133.84184242163423, + -198.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -133.84184242163423, + -201.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -133.84184242163423, + -204.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -133.84184242163423, + -207.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -133.84184242163423, + -210.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -133.84184242163423, + -213.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -133.84184242163423, + -216.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -133.84184242163423, + -219.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -133.84184242163423, + -222.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -133.84184242163423, + -225.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -133.84184242163423, + -228.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -133.84184242163423, + -231.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -133.84184242163423, + -234.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -133.84184242163423, + -237.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -133.84184242163423, + -240.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -133.84184242163423, + -243.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -133.84184242163423, + -246.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -133.84184242163423, + -249.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -133.84184242163423, + -252.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -133.84184242163423, + -255.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -133.84184242163423, + -258.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -133.84184242163423, + -261.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -133.84184242163423, + -264.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -133.84184242163423, + -267.08222404601975, + 0.9865431802239399 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.84184242163423, + -267.08222404601975, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -132.34184242163423, + -269.68030025737306, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -130.84184242163423, + -272.2783764687264, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -129.34184242163423, + -274.8764526800797, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -127.84184242163423, + -277.474528891433, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -126.34184242163423, + -280.0726051027863, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -124.84184242163423, + -282.67068131413964, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -123.34184242163423, + -285.26875752549296, + 0.9865431802239399 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -123.34184242163423, + -285.26875752549296, + 0.9865431802239399 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -123.34184242163423, + -285.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -120.74376621028091, + -286.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -118.1456899989276, + -288.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -115.54761378757428, + -289.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -112.94953757622096, + -291.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -110.35146136486765, + -292.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -107.75338515351433, + -294.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -105.15530894216101, + -295.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -102.5572327308077, + -297.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -99.95915651945438, + -298.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -97.36108030810107, + -300.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -94.76300409674775, + -301.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -92.16492788539443, + -303.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -89.56685167404112, + -304.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -86.9687754626878, + -306.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -84.37069925133449, + -307.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -81.77262303998117, + -309.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -79.17454682862785, + -310.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -76.57647061727454, + -312.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -73.97839440592122, + -313.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -71.3803181945679, + -315.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -68.78224198321459, + -316.76875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -66.18416577186127, + -318.26875752549296, + 0.9865431802239399 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -66.18416577186127, + -318.26875752549296, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -64.68416577186127, + -320.8668337368463, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -63.184165771861274, + -323.4649099481996, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -61.684165771861274, + -326.0629861595529, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -60.184165771861274, + -328.6610623709062, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -58.684165771861274, + -331.25913858225954, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -57.184165771861274, + -333.85721479361285, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -55.684165771861274, + -336.45529100496617, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -54.184165771861274, + -339.0533672163195, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -52.684165771861274, + -341.6514434276728, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -51.184165771861274, + -344.2495196390261, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -49.684165771861274, + -346.84759585037943, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -48.184165771861274, + -349.44567206173275, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -46.684165771861274, + -352.04374827308607, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -45.184165771861274, + -354.6418244844394, + 0.9865431802239399 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -45.184165771861274, + -354.6418244844394, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -42.58608956050796, + -356.1418244844394, + 0.9865431802239399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -39.98801334915464, + -357.6418244844394, + 0.9865431802239399 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-7-54_1713258270/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-7-54_1713258270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31ce9e1f877b17d198b71d5ca79d3cf655d1b586 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-7-54_1713258270/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 155.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 158.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 161.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 164.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 167.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 170.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 173.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 176.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 179.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 182.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 185.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 188.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 191.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 194.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 197.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 200.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 203.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 206.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 209.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 212.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 215.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 218.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 221.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 224.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 227.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 230.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 230.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 233.31332403192164, + -204.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 235.91140024327495, + -202.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 238.50947645462827, + -201.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 235.91140024327495, + -202.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 233.31332403192164, + -204.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 230.71524782056832, + -205.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 228.117171609215, + -207.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 225.5190953978617, + -208.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 222.92101918650837, + -210.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 220.32294297515506, + -211.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 217.72486676380174, + -213.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 215.12679055244843, + -214.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 212.5287143410951, + -216.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 209.9306381297418, + -217.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 207.33256191838848, + -219.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 204.73448570703516, + -220.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 202.13640949568185, + -222.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 199.53833328432853, + -223.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 196.94025707297521, + -225.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 194.3421808616219, + -226.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 191.74410465026858, + -228.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 189.14602843891527, + -229.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 186.54795222756195, + -231.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 183.94987601620863, + -232.80134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 181.35179980485532, + -234.30134243588407, + 4.782277731354544 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 181.35179980485532, + -234.30134243588407, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 179.85179980485532, + -236.89941864723738, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 178.35179980485532, + -239.4974948585907, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 176.85179980485532, + -242.09557106994401, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 175.35179980485532, + -244.69364728129733, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 173.85179980485532, + -247.29172349265065, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 172.35179980485532, + -249.88979970400396, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 170.85179980485532, + -252.48787591535728, + 4.782277731354544 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 170.85179980485532, + -252.48787591535728, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 168.253723593502, + -253.98787591535728, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 165.6556473821487, + -255.48787591535728, + 4.782277731354544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 163.05757117079537, + -256.9878759153573, + 4.782277731354544 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-8-26_1573363368/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-8-26_1573363368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ec6eb85352d5b12780c28d225316350dd8b6438 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-16_23-8-26_1573363368/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 67.15678791918505, + -582.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 67.15678791918505, + -585.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 67.15678791918505, + -588.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 67.15678791918505, + -591.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 67.15678791918505, + -594.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 67.15678791918505, + -597.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 67.15678791918505, + -600.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 67.15678791918505, + -603.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 67.15678791918505, + -606.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 67.15678791918505, + -609.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 67.15678791918505, + -612.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 67.15678791918505, + -615.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 67.15678791918505, + -618.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 67.15678791918505, + -621.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 67.15678791918505, + -624.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 67.15678791918505, + -627.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 67.15678791918505, + -630.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 67.15678791918505, + -633.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 67.15678791918505, + -636.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 67.15678791918505, + -639.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 67.15678791918505, + -642.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 67.15678791918505, + -645.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 67.15678791918505, + -648.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 67.15678791918505, + -651.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 67.15678791918505, + -654.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 67.15678791918505, + -657.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 67.15678791918505, + -660.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 67.15678791918505, + -663.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 67.15678791918505, + -666.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 67.15678791918505, + -669.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 67.15678791918505, + -672.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 67.15678791918505, + -675.5119197436179, + -1.9575731021133596 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 67.15678791918505, + -675.5119197436179, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 68.65678791918505, + -678.1099959549713, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 70.15678791918505, + -680.7080721663247, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 71.65678791918505, + -683.306148377678, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 73.15678791918505, + -685.9042245890314, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 74.65678791918505, + -688.5023008003848, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 76.15678791918505, + -691.1003770117381, + -1.9575731021133596 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 76.15678791918505, + -691.1003770117381, + -1.9575731021133596 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 76.15678791918505, + -691.1003770117381, + -1.9575731021133596 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932046 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 76.15678791918505, + -691.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 73.55871170783173, + -692.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 70.96063549647842, + -694.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 68.3625592851251, + -695.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 65.76448307377179, + -697.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 63.16640686241847, + -698.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 60.56833065106515, + -700.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 57.97025443971184, + -701.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 55.37217822835852, + -703.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 52.774102017005205, + -704.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 50.17602580565189, + -706.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 47.57794959429857, + -707.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 44.97987338294526, + -709.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 42.38179717159194, + -710.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 39.783720960238625, + -712.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 37.18564474888531, + -713.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 34.58756853753199, + -715.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 31.989492326178677, + -716.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 29.39141611482536, + -718.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 26.793339903472045, + -719.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 24.19526369211873, + -721.1003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 21.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 21.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 18.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 15.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 12.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 9.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 6.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 3.597187480765413, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 0.5971874807654132, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -2.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -5.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -8.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -11.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -14.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -17.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -20.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -23.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -26.402812519234587, + -722.6003770117381, + -1.9575731021133596 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-0_1285228804/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-0_1285228804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c9b04a5065ee64783efb43ed6280d5421469a42 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-0_1285228804/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -172.40605567247502, + -86.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -175.00413188382834, + -85.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -177.60220809518165, + -83.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -180.20028430653497, + -82.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -182.79836051788828, + -80.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -185.3964367292416, + -79.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -187.99451294059492, + -77.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -190.59258915194823, + -76.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -193.19066536330155, + -74.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -195.78874157465486, + -73.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -198.38681778600818, + -71.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -200.9848939973615, + -70.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -203.5829702087148, + -68.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -206.18104642006813, + -67.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -208.77912263142144, + -65.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -211.37719884277476, + -64.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -213.97527505412808, + -62.96259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -216.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -216.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -219.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -222.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -225.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -228.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -231.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -234.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -237.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -240.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -243.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -246.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -249.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -252.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -252.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -252.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -252.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -252.5733512654814, + -61.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -252.5733512654814, + -58.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -252.5733512654814, + -55.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -252.5733512654814, + -52.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -252.5733512654814, + -49.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -252.5733512654814, + -46.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -252.5733512654814, + -43.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -252.5733512654814, + -40.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -252.5733512654814, + -37.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -252.5733512654814, + -34.46259004755365, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -252.5733512654814, + -31.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -252.5733512654814, + -28.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -252.5733512654814, + -25.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -252.5733512654814, + -22.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -252.5733512654814, + -19.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -252.5733512654814, + -16.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -252.5733512654814, + -13.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -252.5733512654814, + -10.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -252.5733512654814, + -7.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -252.5733512654814, + -4.462590047553647, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -252.5733512654814, + -1.4625900475536469, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -252.5733512654814, + 1.5374099524463531, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -252.5733512654814, + 4.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -252.5733512654814, + 7.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -252.5733512654814, + 10.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -252.5733512654814, + 13.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -252.5733512654814, + 16.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -252.5733512654814, + 19.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -252.5733512654814, + 22.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -252.5733512654814, + 25.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -252.5733512654814, + 28.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -252.5733512654814, + 31.537409952446353, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -252.5733512654814, + 34.53740995244635, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -252.5733512654814, + 37.53740995244635, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -252.5733512654814, + 40.53740995244635, + 3.130247893673147 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -252.5733512654814, + 40.53740995244635, + 3.130247893673147 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -252.5733512654814, + 40.53740995244635, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -255.1714274768347, + 42.03740995244635, + 3.130247893673147 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -257.769503688188, + 43.53740995244635, + 3.130247893673147 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-34_1789376348/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-34_1789376348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04e84debc8bffe7a3ad7067a46ab5f557fcbb8f9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-34_1789376348/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1043.0540707244202, + 256.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1043.0540707244202, + 253.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1043.0540707244202, + 250.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1043.0540707244202, + 247.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1043.0540707244202, + 244.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1043.0540707244202, + 241.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1043.0540707244202, + 238.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1043.0540707244202, + 235.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1043.0540707244202, + 232.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1043.0540707244202, + 229.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1043.0540707244202, + 226.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1043.0540707244202, + 223.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1043.0540707244202, + 220.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1043.0540707244202, + 217.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1043.0540707244202, + 214.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1043.0540707244202, + 211.4232612797603, + 2.9423608465070643 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1043.0540707244202, + 211.4232612797603, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1041.5540707244202, + 208.825185068407, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1040.0540707244202, + 206.22710885705368, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1038.5540707244202, + 203.62903264570036, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1037.0540707244202, + 201.03095643434705, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1035.5540707244202, + 198.43288022299373, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1034.0540707244202, + 195.83480401164041, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1032.5540707244202, + 193.2367278002871, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1031.0540707244202, + 190.63865158893378, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1029.5540707244202, + 188.04057537758047, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1028.0540707244202, + 185.44249916622715, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1026.5540707244202, + 182.84442295487383, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1025.0540707244202, + 180.24634674352052, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1023.5540707244202, + 177.6482705321672, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1022.0540707244202, + 175.0501943208139, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1020.5540707244202, + 172.45211810946057, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1019.0540707244202, + 169.85404189810725, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1017.5540707244202, + 167.25596568675394, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1016.0540707244202, + 164.65788947540062, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1014.5540707244202, + 162.0598132640473, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1013.0540707244202, + 159.461737052694, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1011.5540707244202, + 156.86366084134067, + 2.9423608465070643 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1011.5540707244202, + 156.86366084134067, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1008.9559945130668, + 155.36366084134067, + 2.9423608465070643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1006.3579183017134, + 153.86366084134067, + 2.9423608465070643 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-56_502278611/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-56_502278611/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e602e8e5b97da514cd0fc9363e3624dda6fd36f3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-1-56_502278611/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 577.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 580.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 583.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 586.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 589.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 592.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 595.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 598.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 601.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 604.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 607.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 610.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 613.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 616.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 619.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 619.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 619.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 619.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 619.256354089916, + -74.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 619.256354089916, + -71.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 619.256354089916, + -68.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 619.256354089916, + -65.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 619.256354089916, + -62.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 619.256354089916, + -59.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 619.256354089916, + -56.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 619.256354089916, + -53.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 619.256354089916, + -50.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 619.256354089916, + -47.74244783787016, + -0.8604430127220457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 619.256354089916, + -44.74244783787016, + -0.8604430127220457 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-10-47_396473730/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-10-47_396473730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae5435be67dd04480f018d95b2a4be9f4cd550af --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-10-47_396473730/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 412.66992776260696, + -353.4061190053756, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.16992776260696, + -350.8080427940223, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 409.66992776260696, + -348.209966582669, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.16992776260696, + -345.61189037131567, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 406.66992776260696, + -343.01381415996235, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.16992776260696, + -340.41573794860903, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.66992776260696, + -337.8176617372557, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 402.16992776260696, + -335.2195855259024, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 400.66992776260696, + -332.6215093145491, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 399.16992776260696, + -330.02343310319577, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 397.66992776260696, + -327.42535689184245, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 396.16992776260696, + -324.82728068048914, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 394.66992776260696, + -322.2292044691358, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 393.16992776260696, + -319.6311282577825, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 391.66992776260696, + -317.0330520464292, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 390.16992776260696, + -314.4349758350759, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 388.66992776260696, + -311.83689962372256, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 387.16992776260696, + -309.23882341236924, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 385.66992776260696, + -306.6407472010159, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 384.16992776260696, + -304.0426709896626, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 382.66992776260696, + -301.4445947783093, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 381.16992776260696, + -298.846518566956, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 379.66992776260696, + -296.24844235560266, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 378.16992776260696, + -293.65036614424935, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 376.66992776260696, + -291.05228993289603, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 375.16992776260696, + -288.4542137215427, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 373.66992776260696, + -285.8561375101894, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 372.16992776260696, + -283.2580612988361, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 370.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 370.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 370.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 370.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 370.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 370.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 373.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 376.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 379.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 382.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 385.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 388.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 391.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 394.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 397.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 400.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 403.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 406.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 409.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 412.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 415.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 418.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 421.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 421.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 421.66992776260696, + -280.65998508748277, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 423.16992776260696, + -283.2580612988361, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 424.66992776260696, + -285.8561375101894, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 426.16992776260696, + -288.4542137215427, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 427.66992776260696, + -291.05228993289603, + -2.4335327889329945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 429.16992776260696, + -293.65036614424935, + -2.4335327889329945 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-14-0_434248626/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-14-0_434248626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6edaef516311ab68574d32a68a911b066d7d8bae --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-14-0_434248626/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 495.800699279561, + -185.52885584207064, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 494.300699279561, + -188.12693205342396, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 492.800699279561, + -190.72500826477727, + 1.457466023035737 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 492.800699279561, + -190.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 492.800699279561, + -193.72500826477727, + 1.457466023035737 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 492.800699279561, + -193.72500826477727, + 1.457466023035737 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 492.800699279561, + -193.72500826477727, + 1.457466023035737 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 492.800699279561, + -193.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 490.2026230682077, + -195.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 487.60454685685437, + -196.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 485.00647064550105, + -198.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 482.40839443414774, + -199.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 479.8103182227944, + -201.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 477.2122420114411, + -202.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 474.6141658000878, + -204.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 472.0160895887345, + -205.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 469.41801337738116, + -207.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 466.81993716602784, + -208.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 464.2218609546745, + -210.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 461.6237847433212, + -211.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 459.0257085319679, + -213.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 456.4276323206146, + -214.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 453.82955610926126, + -216.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 451.23147989790795, + -217.72500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 448.63340368655463, + -219.22500826477727, + 1.457466023035737 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 448.63340368655463, + -219.22500826477727, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 447.13340368655463, + -221.8230844761306, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 445.63340368655463, + -224.4211606874839, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.13340368655463, + -227.01923689883722, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 442.63340368655463, + -229.61731311019054, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 441.13340368655463, + -232.21538932154385, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 439.63340368655463, + -234.81346553289717, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 438.13340368655463, + -237.41154174425048, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 436.63340368655463, + -240.0096179556038, + 1.457466023035737 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 436.63340368655463, + -240.0096179556038, + 1.457466023035737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 434.0353274752013, + -241.5096179556038, + 1.457466023035737 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-15-35_1402586708/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-15-35_1402586708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53a5ed11d36268b5c7cb0a9ebc04293652df8d35 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-15-35_1402586708/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1244.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1247.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1250.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1253.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1256.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1259.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1262.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1265.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1268.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1271.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1274.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1277.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1280.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1283.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1286.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1289.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1292.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1295.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1298.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1298.0931500784159, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1300.6912262897692, + -213.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1303.2893025011226, + -215.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1305.887378712476, + -216.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1308.4854549238294, + -218.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1311.0835311351827, + -219.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1313.681607346536, + -221.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1316.2796835578895, + -222.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1318.8777597692429, + -224.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1321.4758359805962, + -225.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1324.0739121919496, + -227.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1326.671988403303, + -228.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1329.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1329.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1332.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1335.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1338.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1341.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1344.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1347.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1350.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1353.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1356.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1359.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1362.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1365.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1365.2700646146563, + -230.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1367.8681408260097, + -228.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1370.466217037363, + -227.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1373.0642932487165, + -225.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1375.6623694600698, + -224.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1378.2604456714232, + -222.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1380.8585218827766, + -221.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1383.45659809413, + -219.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1386.0546743054833, + -218.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1388.6527505168367, + -216.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1391.25082672819, + -215.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1393.8489029395434, + -213.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1396.4469791508968, + -212.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1399.0450553622502, + -210.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1401.6431315736036, + -209.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1404.241207784957, + -207.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1406.8392839963103, + -206.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1409.4373602076637, + -204.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1412.035436419017, + -203.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1414.6335126303704, + -201.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1417.2315888417238, + -200.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1419.8296650530772, + -198.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1422.4277412644306, + -197.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1425.025817475784, + -195.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1427.6238936871373, + -194.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1430.2219698984907, + -192.79951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1432.820046109844, + -191.29951797371115, + 0.8821360097728466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1435.4181223211974, + -189.79951797371115, + 0.8821360097728466 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-16-49_1143408282/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-16-49_1143408282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f9dfcf477266c505c8e301779b675325f67bca6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-16-49_1143408282/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 171.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 168.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 165.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 162.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 159.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 156.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 153.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 150.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 147.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 144.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 141.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 138.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 135.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 132.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 129.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 126.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 123.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 120.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 117.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 111.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 108.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 105.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 102.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 99.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 96.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 93.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 90.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 90.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 90.22817382590188, + -717.4780668211602, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 88.72817382590188, + -714.8799906098068, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 87.22817382590188, + -712.2819143984534, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 85.72817382590188, + -709.6838381871, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 84.22817382590188, + -707.0857619757467, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 82.72817382590188, + -704.4876857643933, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 81.22817382590188, + -701.8896095530399, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 79.72817382590188, + -699.2915333416865, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 78.22817382590188, + -696.6934571303332, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 76.72817382590188, + -694.0953809189798, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 75.22817382590188, + -691.4973047076264, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 73.72817382590188, + -688.899228496273, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 72.22817382590188, + -686.3011522849197, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 70.72817382590188, + -683.7030760735663, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 69.22817382590188, + -681.1049998622129, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 67.72817382590188, + -678.5069236508596, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 66.22817382590188, + -675.9088474395062, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 64.72817382590188, + -673.3107712281528, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 63.22817382590188, + -670.7126950167994, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 61.72817382590188, + -668.1146188054461, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 60.22817382590188, + -665.5165425940927, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 58.72817382590188, + -662.9184663827393, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 57.22817382590188, + -660.320390171386, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 55.72817382590188, + -657.7223139600326, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 54.22817382590188, + -655.1242377486792, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 52.72817382590188, + -652.5261615373258, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 51.22817382590188, + -649.9280853259725, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 49.72817382590188, + -647.3300091146191, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 48.22817382590188, + -644.7319329032657, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 46.72817382590188, + -642.1338566919123, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 45.22817382590188, + -639.535780480559, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 43.72817382590188, + -636.9377042692056, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 42.22817382590188, + -634.3396280578522, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 40.72817382590188, + -631.7415518464989, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 39.22817382590188, + -629.1434756351455, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 37.72817382590188, + -626.5453994237921, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 36.22817382590188, + -623.9473232124387, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 34.72817382590188, + -621.3492470010854, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 33.22817382590188, + -618.751170789732, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 31.728173825901877, + -616.1530945783786, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 30.228173825901877, + -613.5550183670252, + 4.254648019784348 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 30.228173825901877, + -613.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 30.228173825901877, + -610.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 30.228173825901877, + -607.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 30.228173825901877, + -604.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 30.228173825901877, + -601.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 30.228173825901877, + -598.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 30.228173825901877, + -595.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 30.228173825901877, + -592.5550183670252, + 4.254648019784348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 30.228173825901877, + -589.5550183670252, + 4.254648019784348 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-17-25_188213258/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-17-25_188213258/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb9a86abf9694af2a693ffd32b112603cb797fe5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-17-25_188213258/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 796.4326428304711, + -528.2169935089307, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 797.9326428304711, + -525.6189172975774, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 799.4326428304711, + -523.020841086224, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 800.9326428304711, + -520.4227648748706, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 802.4326428304711, + -517.8246886635172, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 803.9326428304711, + -515.2266124521639, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 805.4326428304711, + -512.6285362408105, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 806.9326428304711, + -510.0304600294572, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 808.4326428304711, + -507.43238381810386, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 809.9326428304711, + -504.83430760675054, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 811.4326428304711, + -502.2362313953972, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 812.9326428304711, + -499.6381551840439, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 814.4326428304711, + -497.0400789726906, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 815.9326428304711, + -494.4420027613373, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 817.4326428304711, + -491.84392654998396, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 818.9326428304711, + -489.24585033863065, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 820.4326428304711, + -486.64777412727733, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 821.9326428304711, + -484.049697915924, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 823.4326428304711, + -481.4516217045707, + 2.899944936251111 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 823.4326428304711, + -481.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 823.4326428304711, + -478.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 823.4326428304711, + -475.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 823.4326428304711, + -472.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 823.4326428304711, + -469.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 823.4326428304711, + -466.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 823.4326428304711, + -463.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 823.4326428304711, + -460.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 823.4326428304711, + -457.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 823.4326428304711, + -454.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 823.4326428304711, + -451.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 823.4326428304711, + -448.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 823.4326428304711, + -445.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 823.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 823.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 823.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 823.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 823.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 826.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 829.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 832.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 835.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 838.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 841.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 844.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 847.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 850.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 853.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 856.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 859.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 859.4326428304711, + -442.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 862.0307190418243, + -440.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 864.6287952531777, + -439.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 867.2268714645311, + -437.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 869.8249476758845, + -436.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 872.4230238872378, + -434.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 875.0211000985912, + -433.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 877.6191763099446, + -431.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 880.217252521298, + -430.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 882.8153287326513, + -428.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 885.4134049440047, + -427.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 888.0114811553581, + -425.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 890.6095573667114, + -424.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 893.2076335780648, + -422.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 895.8057097894182, + -421.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 898.4037860007716, + -419.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 901.0018622121249, + -418.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 903.5999384234783, + -416.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 906.1980146348317, + -415.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 908.796090846185, + -413.9516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 911.3941670575384, + -412.4516217045707, + 2.899944936251111 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 913.9922432688918, + -410.9516217045707, + 2.899944936251111 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-19-32_201305624/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-19-32_201305624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0824d0ff25859b475d479ddd8c2be8fb236b1fd2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-19-32_201305624/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 373.9886910956374, + -201.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 373.9886910956374, + -198.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 373.9886910956374, + -195.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 373.9886910956374, + -192.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 373.9886910956374, + -189.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 373.9886910956374, + -186.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 373.9886910956374, + -183.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 373.9886910956374, + -180.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 373.9886910956374, + -177.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 373.9886910956374, + -174.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 373.9886910956374, + -171.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 373.9886910956374, + -168.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 373.9886910956374, + -165.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 373.9886910956374, + -162.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 373.9886910956374, + -159.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 373.9886910956374, + -156.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 373.9886910956374, + -153.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 373.9886910956374, + -150.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 373.9886910956374, + -147.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 373.9886910956374, + -144.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 373.9886910956374, + -141.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 373.9886910956374, + -138.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 373.9886910956374, + -135.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 373.9886910956374, + -132.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 373.9886910956374, + -129.4131162091307, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 373.9886910956374, + -126.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 373.9886910956374, + -123.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 373.9886910956374, + -120.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 373.9886910956374, + -117.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 373.9886910956374, + -114.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 373.9886910956374, + -111.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 373.9886910956374, + -108.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 373.9886910956374, + -105.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 373.9886910956374, + -102.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 373.9886910956374, + -99.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 373.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 373.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 373.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 373.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 373.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 370.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 367.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 364.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 361.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 358.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 355.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 352.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 349.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 346.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 343.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 340.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 337.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 334.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 331.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 331.9886910956374, + -96.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 329.3906148842841, + -94.91311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 326.7925386729308, + -93.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 324.1944624615775, + -91.91311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 321.59638625022416, + -90.41311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 318.99831003887084, + -88.91311620913069, + 3.273198504554756 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 316.4002338275175, + -87.41311620913069, + 3.273198504554756 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-2-14_1450573622/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-2-14_1450573622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eaf2c9f710fca977800958f6c0f72aeff3b5facf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-2-14_1450573622/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1295.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1298.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1301.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1304.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1307.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1310.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1313.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1316.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1319.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1322.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1325.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1328.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1331.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1334.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1337.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1340.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1343.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1346.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1346.8108562906416, + -168.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1349.408932501995, + -169.79373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1352.0070087133483, + -171.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1354.6050849247017, + -172.79373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1357.203161136055, + -174.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1359.8012373474085, + -175.79373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1362.3993135587618, + -177.29373970061724, + 1.5989120155898604 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1362.3993135587618, + -177.29373970061724, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1363.8993135587618, + -179.89181591197055, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1365.3993135587618, + -182.48989212332387, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1366.8993135587618, + -185.08796833467719, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1368.3993135587618, + -187.6860445460305, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1369.8993135587618, + -190.28412075738382, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1371.3993135587618, + -192.88219696873713, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1372.8993135587618, + -195.48027318009045, + 1.5989120155898604 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1372.8993135587618, + -195.48027318009045, + 1.5989120155898604 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1372.8993135587618, + -195.48027318009045, + 1.5989120155898604 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1372.8993135587618, + -195.48027318009045, + 1.5989120155898604 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1372.8993135587618, + -195.48027318009045, + 1.5989120155898604 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1372.8993135587618, + -195.48027318009045, + 1.5989120155898604 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1372.8993135587618, + -195.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1372.8993135587618, + -192.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1372.8993135587618, + -189.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1372.8993135587618, + -186.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1372.8993135587618, + -183.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1372.8993135587618, + -180.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1372.8993135587618, + -177.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1372.8993135587618, + -174.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1372.8993135587618, + -171.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1372.8993135587618, + -168.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1372.8993135587618, + -165.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1372.8993135587618, + -162.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1372.8993135587618, + -159.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1372.8993135587618, + -156.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1372.8993135587618, + -153.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1372.8993135587618, + -150.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1372.8993135587618, + -147.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1372.8993135587618, + -144.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1372.8993135587618, + -141.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1372.8993135587618, + -138.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1372.8993135587618, + -135.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1372.8993135587618, + -132.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1372.8993135587618, + -129.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1372.8993135587618, + -126.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1372.8993135587618, + -123.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1372.8993135587618, + -120.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1372.8993135587618, + -117.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1372.8993135587618, + -114.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1372.8993135587618, + -111.48027318009045, + 1.5989120155898604 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1372.8993135587618, + -111.48027318009045, + 1.5989120155898604 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1372.8993135587618, + -111.48027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1375.4973897701152, + -109.98027318009045, + 1.5989120155898604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1378.0954659814686, + -108.48027318009045, + 1.5989120155898604 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-2-56_1037127828/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-2-56_1037127828/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1470c3cc3c5661d61380be45a171450ecf53ad67 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-2-56_1037127828/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1000.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 997.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 994.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 991.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 988.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 985.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 982.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 979.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 976.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 973.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 970.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 967.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 964.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 964.5322098430638, + -254.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 961.9341336317104, + -256.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991512 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 959.3360574203571, + -257.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 956.7379812090037, + -259.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 954.1399049976503, + -260.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 951.541828786297, + -262.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 948.9437525749436, + -263.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 946.3456763635902, + -265.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 943.7476001522368, + -266.5770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 941.1495239408835, + -268.0770495063464, + -4.375995837943258 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 941.1495239408835, + -268.0770495063464, + -4.375995837943258 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 941.1495239408835, + -268.0770495063464, + -4.375995837943258 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 941.1495239408835, + -268.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 941.1495239408835, + -271.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 941.1495239408835, + -274.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 941.1495239408835, + -277.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 941.1495239408835, + -280.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 941.1495239408835, + -283.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 941.1495239408835, + -286.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 941.1495239408835, + -289.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 941.1495239408835, + -292.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 941.1495239408835, + -295.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 941.1495239408835, + -298.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 941.1495239408835, + -301.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 941.1495239408835, + -304.0770495063464, + -4.375995837943258 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 941.1495239408835, + -304.0770495063464, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 942.6495239408835, + -306.6751257176997, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 944.1495239408835, + -309.273201929053, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 945.6495239408835, + -311.87127814040633, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 947.1495239408835, + -314.46935435175965, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 948.6495239408835, + -317.06743056311296, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 950.1495239408835, + -319.6655067744663, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 951.6495239408835, + -322.2635829858196, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 953.1495239408835, + -324.8616591971729, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 954.6495239408835, + -327.4597354085262, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 956.1495239408835, + -330.05781161987954, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 957.6495239408835, + -332.65588783123286, + -4.375995837943258 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 959.1495239408835, + -335.2539640425862, + -4.375995837943258 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-21-55_1273911899/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-21-55_1273911899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1ebef89a3e51e636910645b12d66fbeda7ff013 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-21-55_1273911899/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -119.09069023161256, + -190.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -121.68876644296587, + -188.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -124.28684265431919, + -187.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -126.8849188656725, + -185.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -129.4829950770258, + -184.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991492 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -132.08107128837912, + -182.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.67914749973244, + -181.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -137.27722371108575, + -179.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -139.87529992243907, + -178.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -142.47337613379239, + -176.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -145.0714523451457, + -175.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -147.66952855649902, + -173.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -150.26760476785233, + -172.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -152.86568097920565, + -170.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -155.46375719055897, + -169.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -158.06183340191228, + -167.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -160.6599096132656, + -166.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -163.2579858246189, + -164.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -165.85606203597223, + -163.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -168.45413824732555, + -161.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -171.05221445867886, + -160.2033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -173.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -173.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -176.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -179.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -182.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -185.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -188.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -191.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -194.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -197.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -200.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -200.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -200.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -200.65029067003218, + -158.7033242896449, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -202.15029067003218, + -156.1052480782916, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -203.65029067003218, + -153.50717186693828, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -205.15029067003218, + -150.90909565558496, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -206.65029067003218, + -148.31101944423165, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -208.15029067003218, + -145.71294323287833, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -209.65029067003218, + -143.11486702152501, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -211.15029067003218, + -140.5167908101717, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -212.65029067003218, + -137.91871459881838, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -214.15029067003218, + -135.32063838746507, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -215.65029067003218, + -132.72256217611175, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -217.15029067003218, + -130.12448596475843, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -218.65029067003218, + -127.52640975340512, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -220.15029067003218, + -124.9283335420518, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -221.65029067003218, + -122.33025733069849, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -223.15029067003218, + -119.73218111934517, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -224.65029067003218, + -117.13410490799185, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -226.15029067003218, + -114.53602869663854, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -227.65029067003218, + -111.93795248528522, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -229.15029067003218, + -109.3398762739319, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -230.65029067003218, + -106.74180006257859, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -232.15029067003218, + -104.14372385122527, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -233.65029067003218, + -101.54564763987196, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -235.15029067003218, + -98.94757142851864, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -236.65029067003218, + -96.34949521716533, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -238.15029067003218, + -93.75141900581201, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -239.65029067003218, + -91.1533427944587, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -241.15029067003218, + -88.55526658310538, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -242.65029067003218, + -85.95719037175206, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -244.15029067003218, + -83.35911416039875, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -245.65029067003218, + -80.76103794904543, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -247.15029067003218, + -78.16296173769211, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -248.65029067003218, + -75.5648855263388, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -250.15029067003218, + -72.96680931498548, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -251.65029067003218, + -70.36873310363217, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -253.15029067003218, + -67.77065689227885, + 2.3488819989834555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -254.65029067003218, + -65.17258068092553, + 2.3488819989834555 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-24-47_707900973/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-24-47_707900973/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ecebc97283d15a33c1d24aa8f3a8f38b931b622 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-24-47_707900973/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1387.6542869530124, + -176.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1387.6542869530124, + -173.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1387.6542869530124, + -170.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1387.6542869530124, + -167.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1387.6542869530124, + -164.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1387.6542869530124, + -161.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1387.6542869530124, + -158.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1387.6542869530124, + -155.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1387.6542869530124, + -152.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1387.6542869530124, + -149.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1387.6542869530124, + -146.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1387.6542869530124, + -143.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1387.6542869530124, + -140.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1387.6542869530124, + -137.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1387.6542869530124, + -134.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1387.6542869530124, + -131.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1387.6542869530124, + -128.2713127691185, + -3.56527092027216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1387.6542869530124, + -128.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1386.1542869530124, + -125.6732365577652, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1384.6542869530124, + -123.07516034641188, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1383.1542869530124, + -120.47708413505856, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1384.6542869530124, + -123.07516034641188, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1386.1542869530124, + -125.6732365577652, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1387.6542869530124, + -128.2713127691185, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1389.1542869530124, + -130.86938898047183, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1390.6542869530124, + -133.46746519182514, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1392.1542869530124, + -136.06554140317846, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1393.6542869530124, + -138.66361761453177, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1395.1542869530124, + -141.2616938258851, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1396.6542869530124, + -143.8597700372384, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1398.1542869530124, + -146.45784624859172, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1399.6542869530124, + -149.05592245994504, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1401.1542869530124, + -151.65399867129835, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1402.6542869530124, + -154.25207488265167, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1404.1542869530124, + -156.85015109400499, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1405.6542869530124, + -159.4482273053583, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1407.1542869530124, + -162.04630351671162, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1408.6542869530124, + -164.64437972806493, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1410.1542869530124, + -167.24245593941825, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1411.6542869530124, + -169.84053215077157, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1413.1542869530124, + -172.43860836212488, + -3.56527092027216 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1413.1542869530124, + -172.43860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1415.7523631643658, + -173.93860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1418.3504393757191, + -175.43860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1420.9485155870725, + -176.93860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1423.5465917984259, + -178.43860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1426.1446680097793, + -179.93860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1428.7427442211326, + -181.43860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1431.340820432486, + -182.93860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1433.9388966438394, + -184.43860836212488, + -3.56527092027216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1436.5369728551927, + -185.93860836212488, + -3.56527092027216 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-25-50_2113903881/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-25-50_2113903881/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f55b502cfcef251769d5771a764a1a21d6b29693 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-25-50_2113903881/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1385.4433179877901, + -289.74182191463717, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1386.9433179877901, + -287.14374570328386, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1388.4433179877901, + -284.54566949193054, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1389.9433179877901, + -281.9475932805772, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1391.4433179877901, + -279.3495170692239, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1392.9433179877901, + -276.7514408578706, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1394.4433179877901, + -274.1533646465173, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1395.9433179877901, + -271.55528843516396, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1397.4433179877901, + -268.95721222381064, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1398.9433179877901, + -266.3591360124573, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1400.4433179877901, + -263.761059801104, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1401.9433179877901, + -261.1629835897507, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1403.4433179877901, + -258.5649073783974, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1404.9433179877901, + -255.96683116704406, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1406.4433179877901, + -253.36875495569075, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1407.9433179877901, + -250.77067874433743, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1409.4433179877901, + -248.17260253298411, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1410.9433179877901, + -245.5745263216308, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1412.4433179877901, + -242.97645011027748, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1413.9433179877901, + -240.37837389892417, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1415.4433179877901, + -237.78029768757085, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1416.9433179877901, + -235.18222147621753, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1418.4433179877901, + -232.58414526486422, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1419.9433179877901, + -229.9860690535109, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1421.4433179877901, + -227.3879928421576, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1422.9433179877901, + -224.78991663080427, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1424.4433179877901, + -222.19184041945095, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1425.9433179877901, + -219.59376420809764, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1427.4433179877901, + -216.99568799674432, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1428.9433179877901, + -214.397611785391, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1430.4433179877901, + -211.7995355740377, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1431.9433179877901, + -209.20145936268437, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1433.4433179877901, + -206.60338315133106, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1434.9433179877901, + -204.00530693997774, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1436.4433179877901, + -201.40723072862443, + 1.4893827693793398 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1436.4433179877901, + -201.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1436.4433179877901, + -198.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1436.4433179877901, + -195.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1436.4433179877901, + -192.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1436.4433179877901, + -189.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1436.4433179877901, + -186.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1436.4433179877901, + -183.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1436.4433179877901, + -180.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1436.4433179877901, + -177.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1436.4433179877901, + -174.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1436.4433179877901, + -171.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1436.4433179877901, + -168.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1436.4433179877901, + -165.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1436.4433179877901, + -162.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1436.4433179877901, + -159.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1436.4433179877901, + -156.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1436.4433179877901, + -153.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1436.4433179877901, + -150.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1436.4433179877901, + -147.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1436.4433179877901, + -144.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1436.4433179877901, + -141.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1436.4433179877901, + -138.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1436.4433179877901, + -135.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1436.4433179877901, + -132.40723072862443, + 1.4893827693793398 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1436.4433179877901, + -132.40723072862443, + 1.4893827693793398 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1436.4433179877901, + -132.40723072862443, + 1.4893827693793398 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1433.8452417764368, + -130.90723072862443, + 1.4893827693793398 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-26-20_7684930/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-26-20_7684930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90e4c66e680f03ee43050d463275b500260ebb78 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-26-20_7684930/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -416.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -413.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -410.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -407.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -404.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -401.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -398.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -395.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -392.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -389.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -386.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -383.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -380.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -377.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -374.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -371.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -368.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -365.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -362.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -362.87763843817066, + -75.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -360.27956222681735, + -76.88035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -357.68148601546403, + -78.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -355.0834098041107, + -79.88035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -352.4853335927574, + -81.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -349.8872573814041, + -82.88035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -347.28918117005077, + -84.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -344.69110495869745, + -85.88035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -342.09302874734414, + -87.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -339.4949525359908, + -88.88035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -336.8968763246375, + -90.38035469044888, + -1.1369278753412364 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -336.8968763246375, + -90.38035469044888, + -1.1369278753412364 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -336.8968763246375, + -90.38035469044888, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -335.3968763246375, + -92.9784309018022, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -333.8968763246375, + -95.57650711315551, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -332.3968763246375, + -98.17458332450883, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -330.8968763246375, + -100.77265953586215, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -329.3968763246375, + -103.37073574721546, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -327.8968763246375, + -105.96881195856878, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -326.3968763246375, + -108.5668881699221, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -324.8968763246375, + -111.16496438127541, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -323.3968763246375, + -113.76304059262873, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -321.8968763246375, + -116.36111680398204, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -320.3968763246375, + -118.95919301533536, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -318.8968763246375, + -121.55726922668867, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -317.3968763246375, + -124.15534543804199, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -315.8968763246375, + -126.7534216493953, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -314.3968763246375, + -129.35149786074862, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -312.8968763246375, + -131.94957407210194, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -311.3968763246375, + -134.54765028345525, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -309.8968763246375, + -137.14572649480857, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -308.3968763246375, + -139.7438027061619, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -306.8968763246375, + -142.3418789175152, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -305.3968763246375, + -144.93995512886852, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -303.8968763246375, + -147.53803134022183, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -302.3968763246375, + -150.13610755157515, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -300.8968763246375, + -152.73418376292847, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -299.3968763246375, + -155.33225997428178, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -297.8968763246375, + -157.9303361856351, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -296.3968763246375, + -160.52841239698841, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -294.8968763246375, + -163.12648860834173, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -293.3968763246375, + -165.72456481969505, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -291.8968763246375, + -168.32264103104836, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -290.3968763246375, + -170.92071724240168, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -288.8968763246375, + -173.518793453755, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -287.3968763246375, + -176.1168696651083, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -285.8968763246375, + -178.71494587646163, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -284.3968763246375, + -181.31302208781494, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -282.8968763246375, + -183.91109829916826, + -1.1369278753412364 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -282.8968763246375, + -183.91109829916826, + -1.1369278753412364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -280.2988001132842, + -185.41109829916826, + -1.1369278753412364 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-28-50_937370163/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-28-50_937370163/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..165fe7745fb9f6118f316d0fac9d837b81243fca --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-28-50_937370163/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 55.17846532080412, + -793.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 52.580389109450806, + -792.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 49.98231289809749, + -790.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 47.384236686744174, + -789.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 44.78616047539086, + -787.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 42.18808426403754, + -786.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 39.590008052684226, + -784.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 36.99193184133091, + -783.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 34.393855629977594, + -781.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 31.795779418624278, + -780.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 29.197703207270962, + -778.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 26.599626995917646, + -777.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 24.00155078456433, + -775.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.403474573211014, + -774.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 18.805398361857698, + -772.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.207322150504382, + -771.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 13.609245939151066, + -769.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 11.01116972779775, + -768.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.413093516444434, + -766.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 5.815017305091118, + -765.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3.216941093737802, + -763.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 0.6188648823844858, + -762.3322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1.9792113289688302, + -760.8322958662673, + 1.8053944267441757 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1.9792113289688302, + -760.8322958662673, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -3.4792113289688293, + -758.2342196549139, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -4.9792113289688285, + -755.6361434435605, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.479211328968828, + -753.0380672322071, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -7.979211328968827, + -750.4399910208538, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -9.479211328968827, + -747.8419148095004, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -10.979211328968827, + -745.243838598147, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -12.479211328968827, + -742.6457623867936, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -13.979211328968827, + -740.0476861754403, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -15.479211328968827, + -737.4496099640869, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -16.979211328968827, + -734.8515337527335, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -18.479211328968827, + -732.2534575413802, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -19.979211328968827, + -729.6553813300268, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -21.479211328968827, + -727.0573051186734, + 1.8053944267441757 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -21.479211328968827, + -727.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -24.077287540322143, + -725.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -26.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -26.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -26.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -26.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -26.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -26.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -26.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -23.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -20.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -17.67536375167546, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -14.675363751675459, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -11.675363751675459, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -8.675363751675459, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -5.675363751675459, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2.6753637516754587, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 0.3246362483245413, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 3.3246362483245413, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 6.324636248324541, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 9.324636248324541, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 12.324636248324541, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 15.324636248324541, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 18.32463624832454, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 21.32463624832454, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 21.32463624832454, + -724.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 23.922712459677857, + -722.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 26.520788671031173, + -721.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 29.11886488238449, + -719.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 31.716941093737805, + -718.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 34.31501730509112, + -716.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 36.913093516444434, + -715.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 39.51116972779775, + -713.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 42.109245939151066, + -712.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 44.70732215050438, + -710.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 47.3053983618577, + -709.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 49.903474573211014, + -707.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 52.50155078456433, + -706.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 55.099626995917646, + -704.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 57.69770320727096, + -703.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 60.29577941862428, + -701.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 62.893855629977594, + -700.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 65.49193184133091, + -698.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 68.09000805268423, + -697.0573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 70.68808426403754, + -695.5573051186734, + 1.8053944267441757 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 73.28616047539086, + -694.0573051186734, + 1.8053944267441757 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-29-26_2058657199/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-29-26_2058657199/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ad2e9e5491a40465aa36a20f0d2db5dd630d185 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-29-26_2058657199/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -332.9036322461501, + -257.77215586706797, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -331.4036322461501, + -255.17407965571465, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -329.9036322461501, + -252.57600344436133, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -328.4036322461501, + -249.97792723300802, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -326.9036322461501, + -247.3798510216547, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -325.4036322461501, + -244.78177481030139, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -323.9036322461501, + -242.18369859894807, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -322.4036322461501, + -239.58562238759475, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -320.9036322461501, + -236.98754617624144, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -319.4036322461501, + -234.38946996488812, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -317.9036322461501, + -231.7913937535348, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -316.4036322461501, + -229.1933175421815, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -314.9036322461501, + -226.59524133082817, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -313.4036322461501, + -223.99716511947486, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -311.9036322461501, + -221.39908890812154, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -310.4036322461501, + -218.80101269676823, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -308.9036322461501, + -216.2029364854149, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -307.4036322461501, + -213.6048602740616, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -305.9036322461501, + -211.00678406270828, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -304.4036322461501, + -208.40870785135496, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -302.9036322461501, + -205.81063164000165, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -301.4036322461501, + -203.21255542864833, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -299.9036322461501, + -200.614479217295, + -3.786515192214119 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -299.9036322461501, + -200.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -297.3055560347968, + -199.114479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -294.70747982344346, + -197.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -292.10940361209015, + -196.114479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -289.51132740073683, + -194.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -286.9132511893835, + -193.114479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -284.3151749780302, + -191.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -281.7170987666769, + -190.114479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -279.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -279.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -279.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -276.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -273.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -270.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -267.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -264.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -261.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -258.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -255.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -252.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -249.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -246.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -243.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -240.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -237.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -237.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -237.11902255532357, + -188.614479217295, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -235.61902255532357, + -186.0164030059417, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -234.11902255532357, + -183.41832679458838, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -232.61902255532357, + -180.82025058323507, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -231.11902255532357, + -178.22217437188175, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -229.61902255532357, + -175.62409816052843, + -3.786515192214119 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -229.61902255532357, + -175.62409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -227.02094634397025, + -174.12409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -224.42287013261694, + -172.62409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -221.82479392126362, + -171.12409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -219.2267177099103, + -169.62409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -216.628641498557, + -168.12409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -214.03056528720367, + -166.62409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -211.43248907585036, + -165.12409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -208.83441286449704, + -163.62409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -206.23633665314372, + -162.12409816052843, + -3.786515192214119 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -203.6382604417904, + -160.62409816052843, + -3.786515192214119 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-31-14_1501252996/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-31-14_1501252996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2aac662b2f98b897d486bc6c9e9b854c1d5a33fc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-31-14_1501252996/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 554.551604685021, + -22.720571668110907, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 556.051604685021, + -20.12249545675759, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 557.551604685021, + -17.524419245404275, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 559.051604685021, + -14.926343034050959, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 560.551604685021, + -12.328266822697643, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 562.051604685021, + -9.730190611344327, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 563.551604685021, + -7.132114399991011, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 565.051604685021, + -4.534038188637695, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 566.551604685021, + -1.9359619772843786, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 568.051604685021, + 0.6621142340689374, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 569.551604685021, + 3.2601904454222534, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 571.051604685021, + 5.8582666567755695, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 572.551604685021, + 8.456342868128885, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 574.051604685021, + 11.054419079482201, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 575.551604685021, + 13.652495290835517, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 577.051604685021, + 16.250571502188834, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 578.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 578.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 578.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 581.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 584.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 587.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 590.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 590.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 590.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 590.551604685021, + 18.84864771354215, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 592.051604685021, + 16.250571502188834, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 593.551604685021, + 13.652495290835517, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 595.051604685021, + 11.054419079482201, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 596.551604685021, + 8.456342868128885, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 598.051604685021, + 5.8582666567755695, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 599.551604685021, + 3.2601904454222534, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 601.051604685021, + 0.6621142340689374, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 602.551604685021, + -1.9359619772843786, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 604.051604685021, + -4.534038188637695, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 605.551604685021, + -7.132114399991011, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 607.051604685021, + -9.730190611344327, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 608.551604685021, + -12.328266822697643, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 610.051604685021, + -14.926343034050959, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 611.551604685021, + -17.524419245404275, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 613.051604685021, + -20.12249545675759, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 614.551604685021, + -22.720571668110907, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 616.051604685021, + -25.318647879464223, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 617.551604685021, + -27.91672409081754, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 619.051604685021, + -30.514800302170855, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 620.551604685021, + -33.11287651352417, + 0.9523922195381012 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 620.551604685021, + -33.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 623.1496808963743, + -34.61287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 625.7477571077277, + -36.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 628.3458333190811, + -37.61287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 630.9439095304344, + -39.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 633.5419857417878, + -40.61287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 636.1400619531412, + -42.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 638.7381381644946, + -43.61287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 641.3362143758479, + -45.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 643.9342905872013, + -46.61287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 646.5323667985547, + -48.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 649.130443009908, + -49.61287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 651.7285192212614, + -51.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 654.3265954326148, + -52.61287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 656.9246716439682, + -54.11287651352417, + 0.9523922195381012 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 659.5227478553215, + -55.61287651352417, + 0.9523922195381012 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-32-26_1472713773/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-32-26_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a14a51059ce1e3f8bb4ec8d2bd5597c36cb72da1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-32-26_1472713773/pose.jsonl @@ -0,0 +1,1172 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -153.11881875173592, + -671.8171288023027, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -150.11881875173592, + -671.8171288023027, + 3.804982618186603 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -150.11881875173592, + -671.8171288023027, + 3.804982618186603 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -150.11881875173592, + -671.8171288023027, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -148.61881875173592, + -669.2190525909493, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -147.11881875173592, + -666.620976379596, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -145.61881875173592, + -664.0229001682426, + 3.804982618186603 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.61881875173592, + -664.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -143.0207425403826, + -662.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -140.42266632902928, + -661.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -137.82459011767597, + -659.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -135.22651390632265, + -658.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -132.62843769496934, + -656.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -130.03036148361602, + -655.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.4322852722627, + -653.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.83420906090939, + -652.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.23613284955607, + -650.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -119.63805663820276, + -649.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -117.03998042684944, + -647.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -114.44190421549612, + -646.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -111.84382800414281, + -644.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -109.24575179278949, + -643.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -106.64767558143618, + -641.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -104.04959937008286, + -640.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.45152315872954, + -638.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -98.85344694737623, + -637.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -96.25537073602291, + -635.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -93.6572945246696, + -634.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -91.05921831331628, + -632.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -88.46114210196296, + -631.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -85.86306589060965, + -629.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -83.26498967925633, + -628.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -80.66691346790302, + -626.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -78.0688372565497, + -625.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -75.47076104519638, + -623.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -72.87268483384307, + -622.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -70.27460862248975, + -620.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -67.67653241113644, + -619.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -65.07845619978312, + -617.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -62.4803799884298, + -616.0229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -59.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -59.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -56.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -53.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -53.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -53.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -53.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -53.88230377707649, + -614.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -53.88230377707649, + -617.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -53.88230377707649, + -620.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -53.88230377707649, + -623.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -53.88230377707649, + -626.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -53.88230377707649, + -629.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -53.88230377707649, + -632.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -53.88230377707649, + -635.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -53.88230377707649, + -638.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -53.88230377707649, + -641.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -53.88230377707649, + -644.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -53.88230377707649, + -647.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -53.88230377707649, + -650.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -53.88230377707649, + -653.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -53.88230377707649, + -656.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -53.88230377707649, + -659.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -53.88230377707649, + -662.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -53.88230377707649, + -665.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -53.88230377707649, + -668.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -53.88230377707649, + -671.5229001682426, + 3.804982618186603 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -53.88230377707649, + -671.5229001682426, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -52.38230377707649, + -674.120976379596, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -50.88230377707649, + -676.7190525909493, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -49.38230377707649, + -679.3171288023027, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -47.88230377707649, + -681.9152050136561, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -46.38230377707649, + -684.5132812250095, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -44.88230377707649, + -687.1113574363628, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -43.38230377707649, + -689.7094336477162, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -41.88230377707649, + -692.3075098590696, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -40.38230377707649, + -694.9055860704229, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -38.88230377707649, + -697.5036622817763, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -37.38230377707649, + -700.1017384931297, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -35.88230377707649, + -702.6998147044831, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -34.38230377707649, + -705.2978909158364, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -32.88230377707649, + -707.8959671271898, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -31.382303777076487, + -710.4940433385432, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -29.882303777076487, + -713.0921195498966, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -28.382303777076487, + -715.6901957612499, + 3.804982618186603 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + -28.382303777076487, + -715.6901957612499, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + -28.382303777076487, + -718.6901957612499, + 3.804982618186603 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 88, + "pos": [ + -28.382303777076487, + -721.6901957612499, + 3.804982618186603 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-34-38_1967681095/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-34-38_1967681095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef1b70698582aa7f4b85099e40fb6877d44c8eb2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-34-38_1967681095/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 942.8769796570274, + -498.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 942.8769796570274, + -495.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 942.8769796570274, + -492.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 942.8769796570274, + -489.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 942.8769796570274, + -486.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 942.8769796570274, + -483.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 942.8769796570274, + -480.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 942.8769796570274, + -477.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 942.8769796570274, + -474.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 942.8769796570274, + -471.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 942.8769796570274, + -468.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 942.8769796570274, + -465.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 942.8769796570274, + -462.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 942.8769796570274, + -459.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 942.8769796570274, + -456.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 942.8769796570274, + -453.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 942.8769796570274, + -450.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 942.8769796570274, + -447.8011785443717, + -4.332592701175474 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 942.8769796570274, + -447.8011785443717, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 941.3769796570274, + -445.20310233301836, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 939.8769796570274, + -442.60502612166505, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 938.3769796570274, + -440.00694991031173, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 936.8769796570274, + -437.4088736989584, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 935.3769796570274, + -434.8107974876051, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 933.8769796570274, + -432.2127212762518, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 932.3769796570274, + -429.61464506489847, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 930.8769796570274, + -427.01656885354515, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 929.3769796570274, + -424.41849264219184, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 927.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 927.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 927.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 927.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 924.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 921.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 918.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 915.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 912.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 909.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 906.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 903.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 900.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 897.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 894.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 891.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 888.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 885.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 882.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 879.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 876.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 873.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 870.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 867.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 864.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 861.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 858.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 855.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 852.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 852.8769796570274, + -421.8204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 850.2789034456741, + -420.3204164308385, + -4.332592701175474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 847.6808272343208, + -418.8204164308385, + -4.332592701175474 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-35-47_437116466/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-35-47_437116466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5888c96b419b836765c7d2d2a6702308dcf0bfb6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-35-47_437116466/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -432.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -429.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -426.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -423.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -420.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -417.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -414.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -411.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -408.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -405.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -402.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -399.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -396.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -393.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -390.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -387.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -384.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -381.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -378.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -375.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -372.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -369.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -366.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -363.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -360.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -357.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -354.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -354.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -354.15777594864664, + -71.59227764377371, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -352.65777594864664, + -74.19035385512703, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -351.15777594864664, + -76.78843006648034, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -349.65777594864664, + -79.38650627783366, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -348.15777594864664, + -81.98458248918698, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -346.65777594864664, + -84.58265870054029, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -345.15777594864664, + -87.18073491189361, + -0.5293127289345625 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -345.15777594864664, + -87.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -342.55969973729333, + -88.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -339.96162352594, + -90.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -337.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -337.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -337.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -334.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -331.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -328.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -325.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -322.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -319.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -316.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -313.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -310.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -310.3635473145867, + -91.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -307.7654711032334, + -90.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -305.16739489188006, + -88.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -302.56931868052675, + -87.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -299.97124246917343, + -85.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -297.3731662578201, + -84.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -294.7750900464668, + -82.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -292.1770138351135, + -81.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -289.57893762376017, + -79.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -286.98086141240685, + -78.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -284.38278520105354, + -76.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -281.7847089897002, + -75.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -279.1866327783469, + -73.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -276.5885565669936, + -72.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -273.9904803556403, + -70.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -271.39240414428696, + -69.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -268.79432793293364, + -67.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -266.1962517215803, + -66.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -263.598175510227, + -64.68073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -261.0000992988737, + -63.18073491189361, + -0.5293127289345625 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -261.0000992988737, + -63.18073491189361, + -0.5293127289345625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -258.0000992988737, + -63.18073491189361, + -0.5293127289345625 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-37-2_1176911340/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-37-2_1176911340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfcad400d4e2f003ab016e42a818647c3fb5a834 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-37-2_1176911340/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1120.4876036987912, + -308.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1117.8895274874378, + -306.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1115.2914512760844, + -305.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1112.693375064731, + -303.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1110.0952988533777, + -302.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1107.4972226420243, + -300.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1104.899146430671, + -299.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1102.3010702193176, + -297.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1099.7029940079642, + -296.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1097.1049177966108, + -294.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1094.5068415852575, + -293.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1091.908765373904, + -291.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1089.3106891625507, + -290.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1086.7126129511973, + -288.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1084.114536739844, + -287.09418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1081.5164605284906, + -285.59418428591664, + 1.519400158200856 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1081.5164605284906, + -285.59418428591664, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1080.0164605284906, + -282.9961080745633, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1078.5164605284906, + -280.39803186321, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1077.0164605284906, + -277.7999556518567, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1075.5164605284906, + -275.2018794405034, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1074.0164605284906, + -272.60380322915006, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1072.5164605284906, + -270.00572701779674, + 1.519400158200856 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1072.5164605284906, + -270.00572701779674, + 1.519400158200856 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1072.5164605284906, + -270.00572701779674, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1074.0164605284906, + -267.4076508064434, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1075.5164605284906, + -264.8095745950901, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1077.0164605284906, + -262.2114983837368, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1078.5164605284906, + -259.6134221723835, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1080.0164605284906, + -257.01534596103016, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1081.5164605284906, + -254.41726974967685, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1083.0164605284906, + -251.81919353832353, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1084.5164605284906, + -249.22111732697022, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1086.0164605284906, + -246.6230411156169, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1087.5164605284906, + -244.02496490426358, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1089.0164605284906, + -241.42688869291027, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1090.5164605284906, + -238.82881248155695, + 1.519400158200856 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1090.5164605284906, + -238.82881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1093.114536739844, + -237.32881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1095.7126129511973, + -235.82881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1098.3106891625507, + -234.32881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1100.908765373904, + -232.82881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1103.5068415852575, + -231.32881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1106.1049177966108, + -229.82881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1108.7029940079642, + -228.32881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1111.3010702193176, + -226.82881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1113.899146430671, + -225.32881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1116.4972226420243, + -223.82881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1119.0952988533777, + -222.32881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1121.693375064731, + -220.82881248155695, + 1.519400158200856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1124.2914512760844, + -219.32881248155695, + 1.519400158200856 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-41-0_349517445/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-41-0_349517445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..472b471f8f0d1c02c33d3bb1189892993d317dbb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-41-0_349517445/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 552.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 549.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 546.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 543.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 540.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 537.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 534.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 531.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 528.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 525.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 522.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 519.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 516.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 513.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 510.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 507.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 504.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 501.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 498.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 495.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 492.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 489.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 486.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 483.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 480.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 477.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 474.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 471.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 471.8717107268043, + -513.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 469.27363451545096, + -512.0682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 466.67555830409765, + -510.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 464.07748209274433, + -509.0682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 461.479405881391, + -507.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 458.8813296700377, + -506.0682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 456.2832534586844, + -504.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 453.68517724733107, + -503.0682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 451.08710103597775, + -501.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 448.48902482462444, + -500.0682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 445.8909486132711, + -498.5682604394649, + -2.3781137858694974 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 445.8909486132711, + -498.5682604394649, + -2.3781137858694974 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 445.8909486132711, + -498.5682604394649, + -2.3781137858694974 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 445.8909486132711, + -498.5682604394649, + -2.3781137858694974 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 445.8909486132711, + -498.5682604394649, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 447.3909486132711, + -495.9701842281116, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 448.8909486132711, + -493.37210801675826, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 450.3909486132711, + -490.77403180540495, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 451.8909486132711, + -488.17595559405163, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 453.3909486132711, + -485.5778793826983, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 454.8909486132711, + -482.979803171345, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 456.3909486132711, + -480.3817269599917, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 457.8909486132711, + -477.78365074863837, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 459.3909486132711, + -475.18557453728505, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 460.8909486132711, + -472.58749832593173, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 462.3909486132711, + -469.9894221145784, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 463.8909486132711, + -467.3913459032251, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 465.3909486132711, + -464.7932696918718, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 466.8909486132711, + -462.19519348051847, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 468.3909486132711, + -459.59711726916515, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 469.8909486132711, + -456.99904105781184, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 471.3909486132711, + -454.4009648464585, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 472.8909486132711, + -451.8028886351052, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 474.3909486132711, + -449.2048124237519, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 475.8909486132711, + -446.6067362123986, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 477.3909486132711, + -444.00866000104526, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 478.8909486132711, + -441.41058378969194, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 480.3909486132711, + -438.8125075783386, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 481.8909486132711, + -436.2144313669853, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 483.3909486132711, + -433.616355155632, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 484.8909486132711, + -431.0182789442787, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 486.3909486132711, + -428.42020273292536, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 487.8909486132711, + -425.82212652157205, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 489.3909486132711, + -423.22405031021873, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 490.8909486132711, + -420.6259740988654, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 492.3909486132711, + -418.0278978875121, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 493.8909486132711, + -415.4298216761588, + -2.3781137858694974 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 493.8909486132711, + -415.4298216761588, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 493.8909486132711, + -412.4298216761588, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 493.8909486132711, + -409.4298216761588, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 493.8909486132711, + -406.4298216761588, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 493.8909486132711, + -403.4298216761588, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 493.8909486132711, + -400.4298216761588, + -2.3781137858694974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 493.8909486132711, + -397.4298216761588, + -2.3781137858694974 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-44-44_625032172/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-44-44_625032172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ce17a4ddacf4c811c016595b57e3b7f83e3958b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-44-44_625032172/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 413.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 416.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 419.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 422.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 425.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 428.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 431.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 434.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 437.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 440.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 443.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 443.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 443.5117137121447, + -323.48819673292473, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 445.0117137121447, + -326.08627294427805, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 446.5117137121447, + -328.68434915563137, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 448.0117137121447, + -331.2824253669847, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 449.5117137121447, + -333.880501578338, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 451.0117137121447, + -336.4785777896913, + -1.697924508012862 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 451.0117137121447, + -336.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 453.609789923498, + -337.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 456.2078661348513, + -339.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 458.80594234620463, + -340.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 461.40401855755795, + -342.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 464.00209476891126, + -343.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 466.6001709802646, + -345.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 469.1982471916179, + -346.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 471.7963234029712, + -348.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 474.3943996143245, + -349.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 476.99247582567784, + -351.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 479.59055203703116, + -352.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 482.1886282483845, + -354.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 484.7867044597378, + -355.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 487.3847806710911, + -357.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 489.9828568824444, + -358.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 492.58093309379774, + -360.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 495.17900930515106, + -361.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 497.77708551650437, + -363.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 500.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 500.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 503.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 503.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 503.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 503.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 503.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 503.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 503.3751617278577, + -364.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 500.77708551650437, + -366.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 498.17900930515106, + -367.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 495.58093309379774, + -369.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 492.9828568824444, + -370.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 490.3847806710911, + -372.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 487.7867044597378, + -373.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 485.1886282483845, + -375.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 482.59055203703116, + -376.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 479.99247582567784, + -378.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 477.3943996143245, + -379.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 474.7963234029712, + -381.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 472.1982471916179, + -382.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 469.6001709802646, + -384.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 467.00209476891126, + -385.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 464.40401855755795, + -387.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 461.80594234620463, + -388.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 459.2078661348513, + -390.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 456.609789923498, + -391.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 454.0117137121447, + -393.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 451.41363750079137, + -394.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 448.81556128943805, + -396.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 446.21748507808474, + -397.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 443.6194088667314, + -399.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 441.0213326553781, + -400.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 438.4232564440248, + -402.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 435.82518023267147, + -403.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 433.22710402131815, + -405.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 430.62902780996484, + -406.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 428.0309515986115, + -408.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 425.4328753872582, + -409.9785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 422.8347991759049, + -411.4785777896913, + -1.697924508012862 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 422.8347991759049, + -411.4785777896913, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 421.3347991759049, + -414.07665400104463, + -1.697924508012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 419.8347991759049, + -416.67473021239795, + -1.697924508012862 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-45-55_1469262009/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-45-55_1469262009/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a2370ae32e6e06e2f139718f65259675346ac3b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-45-55_1469262009/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 392.3846778048955, + 123.94332820689878, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.8846778048955, + 126.5414044182521, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 395.3846778048955, + 129.13948062960543, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 396.8846778048955, + 131.73755684095875, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 398.3846778048955, + 134.33563305231206, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 399.8846778048955, + 136.93370926366538, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 401.3846778048955, + 139.5317854750187, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 402.8846778048955, + 142.129861686372, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 404.3846778048955, + 144.72793789772533, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 405.8846778048955, + 147.32601410907864, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 407.3846778048955, + 149.92409032043196, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 408.8846778048955, + 152.52216653178527, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 410.3846778048955, + 155.1202427431386, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 411.8846778048955, + 157.7183189544919, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.3846778048955, + 160.31639516584522, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 414.8846778048955, + 162.91447137719854, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 416.3846778048955, + 165.51254758855185, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 417.8846778048955, + 168.11062379990517, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 419.3846778048955, + 170.7087000112585, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 420.8846778048955, + 173.3067762226118, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 422.3846778048955, + 175.90485243396512, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 423.8846778048955, + 178.50292864531843, + -1.147530984364216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 423.8846778048955, + 178.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 423.8846778048955, + 181.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 423.8846778048955, + 184.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 423.8846778048955, + 187.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 423.8846778048955, + 190.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 423.8846778048955, + 193.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 423.8846778048955, + 196.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 423.8846778048955, + 199.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 423.8846778048955, + 202.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 423.8846778048955, + 205.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 423.8846778048955, + 208.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 423.8846778048955, + 211.50292864531843, + -1.147530984364216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 423.8846778048955, + 211.50292864531843, + -1.147530984364216 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 423.8846778048955, + 211.50292864531843, + -1.147530984364216 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 423.8846778048955, + 211.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 421.2866015935422, + 213.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 418.68852538218886, + 214.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 416.09044917083554, + 216.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 413.4923729594822, + 217.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 410.8942967481289, + 219.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 408.2962205367756, + 220.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 405.6981443254223, + 222.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 403.10006811406896, + 223.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 400.50199190271564, + 225.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 397.90391569136233, + 226.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 395.305839480009, + 228.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 392.7077632686557, + 229.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 390.1096870573024, + 231.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 387.51161084594906, + 232.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 384.91353463459575, + 234.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 382.31545842324243, + 235.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 379.7173822118891, + 237.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 377.1193060005358, + 238.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 374.5212297891825, + 240.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 371.92315357782917, + 241.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 369.32507736647585, + 243.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 366.72700115512254, + 244.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 364.1289249437692, + 246.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 361.5308487324159, + 247.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 358.9327725210626, + 249.00292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 356.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 356.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 353.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 350.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 347.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 344.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 341.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 338.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 335.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 332.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 329.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 326.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 323.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 320.3346963097093, + 250.50292864531843, + -1.147530984364216 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-49-25_1555319301/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-49-25_1555319301/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4623bd5266bc8c7fd17ce040afc202f38e692f91 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-49-25_1555319301/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1317.3696893477531, + -4.511312847415638, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1318.8696893477531, + -7.109389058768954, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1320.3696893477531, + -9.70746527012227, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1321.8696893477531, + -12.305541481475586, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1323.3696893477531, + -14.903617692828902, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1324.8696893477531, + -17.50169390418222, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1326.3696893477531, + -20.099770115535534, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1327.8696893477531, + -22.69784632688885, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1329.3696893477531, + -25.295922538242166, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1330.8696893477531, + -27.893998749595482, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1332.3696893477531, + -30.4920749609488, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1333.8696893477531, + -33.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1335.3696893477531, + -35.68822738365543, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1336.8696893477531, + -38.28630359500875, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1338.3696893477531, + -40.88437980636206, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1339.8696893477531, + -43.48245601771538, + -2.609862518345227 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1339.8696893477531, + -43.48245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1342.4677655591065, + -44.98245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1345.0658417704599, + -46.48245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1347.6639179818133, + -47.98245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1350.2619941931666, + -49.48245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1352.86007040452, + -50.98245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1355.4581466158734, + -52.48245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1358.0562228272267, + -53.98245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1360.6542990385801, + -55.48245601771538, + -2.609862518345227 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1360.6542990385801, + -55.48245601771538, + -2.609862518345227 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1360.6542990385801, + -55.48245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1363.2523752499335, + -53.98245601771538, + -2.609862518345227 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1363.2523752499335, + -53.98245601771538, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1364.7523752499335, + -51.38437980636206, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1366.2523752499335, + -48.78630359500875, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1367.7523752499335, + -46.18822738365543, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1369.2523752499335, + -43.590151172302114, + -2.609862518345227 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1369.2523752499335, + -43.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1371.8504514612869, + -42.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1374.4485276726402, + -40.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1377.0466038839936, + -39.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1379.644680095347, + -37.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1382.2427563067004, + -36.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1384.8408325180537, + -34.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1387.438908729407, + -33.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1390.0369849407605, + -31.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1392.6350611521138, + -30.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1395.2331373634672, + -28.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1397.8312135748206, + -27.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1400.429289786174, + -25.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1403.0273659975273, + -24.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1405.6254422088807, + -22.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1408.223518420234, + -21.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1410.8215946315875, + -19.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1413.4196708429408, + -18.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1416.0177470542942, + -16.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1418.6158232656476, + -15.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1421.213899477001, + -13.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1423.8119756883543, + -12.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1426.4100518997077, + -10.590151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1429.008128111061, + -9.090151172302114, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1431.6062043224144, + -7.5901511723021144, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1434.2042805337678, + -6.0901511723021144, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1436.8023567451212, + -4.5901511723021144, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1439.4004329564746, + -3.0901511723021144, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1441.998509167828, + -1.5901511723021147, + -2.609862518345227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1444.5965853791813, + -0.09015117230211489, + -2.609862518345227 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982893 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-5-34_392035568/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-5-34_392035568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b04ce332bc873c87ba7ab19954b340f7e8abf6d8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-5-34_392035568/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 334.3202261936185, + -442.8745472255031, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 332.8202261936185, + -440.27647101414976, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 331.3202261936185, + -437.67839480279645, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 329.8202261936185, + -435.08031859144313, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 328.3202261936185, + -432.4822423800898, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 326.8202261936185, + -429.8841661687365, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 325.3202261936185, + -427.2860899573832, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 323.8202261936185, + -424.68801374602987, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.3202261936185, + -422.08993753467655, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 320.8202261936185, + -419.49186132332323, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 319.3202261936185, + -416.8937851119699, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 317.8202261936185, + -414.2957089006166, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 316.3202261936185, + -411.6976326892633, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 314.8202261936185, + -409.09955647790997, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 313.3202261936185, + -406.50148026655665, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.8202261936185, + -403.90340405520334, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 310.3202261936185, + -401.30532784385, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 308.8202261936185, + -398.7072516324967, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 307.3202261936185, + -396.1091754211434, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 305.8202261936185, + -393.5110992097901, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 304.3202261936185, + -390.91302299843676, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 302.8202261936185, + -388.31494678708344, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 301.3202261936185, + -385.7168705757301, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 299.8202261936185, + -383.1187943643768, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 298.3202261936185, + -380.5207181530235, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 296.8202261936185, + -377.9226419416702, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 295.3202261936185, + -375.32456573031686, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 293.8202261936185, + -372.72648951896355, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 292.3202261936185, + -370.12841330761023, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 290.8202261936185, + -367.5303370962569, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 289.3202261936185, + -364.9322608849036, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 287.8202261936185, + -362.3341846735503, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 286.3202261936185, + -359.73610846219697, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 284.8202261936185, + -357.13803225084365, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 283.3202261936185, + -354.53995603949033, + -1.7336440389904402 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 283.3202261936185, + -354.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 283.3202261936185, + -351.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 283.3202261936185, + -348.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 283.3202261936185, + -345.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 283.3202261936185, + -342.53995603949033, + -1.7336440389904402 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 283.3202261936185, + -342.53995603949033, + -1.7336440389904402 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 283.3202261936185, + -342.53995603949033, + -1.7336440389904402 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 283.3202261936185, + -342.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 285.9183024049718, + -341.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 288.51637861632514, + -339.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 291.11445482767846, + -338.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 293.7125310390318, + -336.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 296.3106072503851, + -335.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 298.9086834617384, + -333.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 301.5067596730917, + -332.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 304.10483588444504, + -330.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 306.70291209579835, + -329.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 309.30098830715167, + -327.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 311.899064518505, + -326.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 314.4971407298583, + -324.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 317.0952169412116, + -323.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 319.69329315256493, + -321.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 322.29136936391825, + -320.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 324.88944557527157, + -318.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 327.4875217866249, + -317.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 330.0855979979782, + -315.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 332.6836742093315, + -314.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 335.28175042068483, + -312.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 337.87982663203815, + -311.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 340.47790284339146, + -309.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 343.0759790547448, + -308.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 345.6740552660981, + -306.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 348.2721314774514, + -305.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 350.8702076888047, + -303.53995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 353.46828390015804, + -302.03995603949033, + -1.7336440389904402 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 353.46828390015804, + -302.03995603949033, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 354.96828390015804, + -299.441879828137, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 356.46828390015804, + -296.8438036167837, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 357.96828390015804, + -294.2457274054304, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 359.46828390015804, + -291.64765119407707, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 360.96828390015804, + -289.04957498272375, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 362.46828390015804, + -286.45149877137044, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 363.96828390015804, + -283.8534225600171, + -1.7336440389904402 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 365.46828390015804, + -281.2553463486638, + -1.7336440389904402 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-55-53_1797073940/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-55-53_1797073940/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4428eea79f25171610e4cb9b219fd67f2312ef2d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-55-53_1797073940/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -84.52381563282873, + -296.0800325572437, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -86.02381563282873, + -298.67810876859704, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -87.52381563282873, + -301.27618497995036, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.02381563282873, + -303.8742611913037, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -90.52381563282873, + -306.472337402657, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -92.02381563282873, + -309.0704136140103, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -93.52381563282873, + -311.6684898253636, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -95.02381563282873, + -314.26656603671694, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -96.52381563282873, + -316.86464224807025, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -98.02381563282873, + -319.46271845942357, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -99.52381563282873, + -322.0607946707769, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -101.02381563282873, + -324.6588708821302, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -102.52381563282873, + -327.2569470934835, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -104.02381563282873, + -329.85502330483683, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -105.52381563282873, + -332.45309951619015, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -107.02381563282873, + -335.05117572754347, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -108.52381563282873, + -337.6492519388968, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -110.02381563282873, + -340.2473281502501, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -111.52381563282873, + -342.8454043616034, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -113.02381563282873, + -345.44348057295673, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -114.52381563282873, + -348.04155678431005, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -116.02381563282873, + -350.63963299566336, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -117.52381563282873, + -353.2377092070167, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -119.02381563282873, + -355.83578541837, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -120.52381563282873, + -358.4338616297233, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -122.02381563282873, + -361.0319378410766, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -123.52381563282873, + -363.63001405242994, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -125.02381563282873, + -366.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -126.52381563282873, + -368.8261664751366, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -128.02381563282873, + -371.4242426864899, + -1.065585496485408 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -128.02381563282873, + -371.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -128.02381563282873, + -374.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.02381563282873, + -377.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -128.02381563282873, + -380.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -128.02381563282873, + -383.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -128.02381563282873, + -386.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -128.02381563282873, + -389.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -128.02381563282873, + -392.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -128.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -128.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -128.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -125.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -122.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -119.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -116.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -113.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -110.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -107.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -104.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -101.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -98.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -95.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -95.02381563282873, + -395.4242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -92.42573942147541, + -393.9242426864899, + -1.065585496485408 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -92.42573942147541, + -393.9242426864899, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -90.92573942147541, + -391.3261664751366, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -89.42573942147541, + -388.72809026378326, + -1.065585496485408 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -89.42573942147541, + -388.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -86.8276632101221, + -387.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -84.22958699876878, + -385.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -81.63151078741546, + -384.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -79.03343457606215, + -382.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -76.43535836470883, + -381.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -73.83728215335552, + -379.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -71.2392059420022, + -378.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -68.64112973064888, + -376.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -66.04305351929557, + -375.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -63.44497730794225, + -373.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -60.84690109658894, + -372.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -58.24882488523562, + -370.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -55.650748673882305, + -369.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -53.05267246252899, + -367.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -50.45459625117567, + -366.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -47.85652003982236, + -364.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -45.25844382846904, + -363.22809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -42.660367617115725, + -361.72809026378326, + -1.065585496485408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -40.06229140576241, + -360.22809026378326, + -1.065585496485408 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-59-1_1414829150/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-59-1_1414829150/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06ce943b1f5f068f845a2abd2d1b3be79023f4ca --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-59-1_1414829150/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -114.38027080166819, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -117.38027080166819, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -120.38027080166819, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -123.38027080166819, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -126.38027080166819, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -129.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -132.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -135.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -138.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -141.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -144.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -147.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -150.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -153.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -156.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -159.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -162.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -165.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -168.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -171.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -174.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -177.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -177.3802708016682, + -450.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -179.9783470130215, + -448.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -182.57642322437482, + -447.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -185.17449943572814, + -445.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -187.77257564708145, + -444.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -190.37065185843477, + -442.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -192.96872806978809, + -441.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -195.5668042811414, + -439.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -198.16488049249472, + -438.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -200.76295670384803, + -436.8553585746184, + 4.560725596819754 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -200.76295670384803, + -436.8553585746184, + 4.560725596819754 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -200.76295670384803, + -436.8553585746184, + 4.560725596819754 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -200.76295670384803, + -436.8553585746184, + 4.560725596819754 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -200.76295670384803, + -436.8553585746184, + 4.560725596819754 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -200.76295670384803, + -436.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -198.16488049249472, + -435.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -195.5668042811414, + -433.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -192.96872806978809, + -432.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -190.37065185843477, + -430.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -187.77257564708145, + -429.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -185.17449943572814, + -427.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -182.57642322437482, + -426.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -179.9783470130215, + -424.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -177.3802708016682, + -423.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -174.78219459031487, + -421.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -172.18411837896156, + -420.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -169.58604216760824, + -418.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -166.98796595625493, + -417.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -164.3898897449016, + -415.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -161.7918135335483, + -414.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -159.19373732219498, + -412.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -156.59566111084166, + -411.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -153.99758489948834, + -409.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -151.39950868813503, + -408.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -148.8014324767817, + -406.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -146.2033562654284, + -405.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -143.60528005407508, + -403.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -141.00720384272176, + -402.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -138.40912763136845, + -400.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -135.81105142001513, + -399.3553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -133.21297520866182, + -397.8553585746184, + 4.560725596819754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -130.6148989973085, + -396.3553585746184, + 4.560725596819754 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-8-52_1447267605/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-8-52_1447267605/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..115f57e1e2b6297150857ab3fb7bb2b80fe68df5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_0-8-52_1447267605/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 94.54477564512423, + 63.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 94.54477564512423, + 66.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 94.54477564512423, + 69.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.54477564512423, + 72.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 94.54477564512423, + 75.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 94.54477564512423, + 78.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 94.54477564512423, + 81.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 94.54477564512423, + 84.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 94.54477564512423, + 87.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.54477564512423, + 90.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 94.54477564512423, + 93.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.54477564512423, + 96.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 94.54477564512423, + 99.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 94.54477564512423, + 102.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 94.54477564512423, + 105.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 94.54477564512423, + 108.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 94.54477564512423, + 111.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 94.54477564512423, + 114.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 94.54477564512423, + 117.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 94.54477564512423, + 120.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 94.54477564512423, + 123.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 94.54477564512423, + 126.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 94.54477564512423, + 129.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 94.54477564512423, + 132.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 94.54477564512423, + 135.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 94.54477564512423, + 138.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 94.54477564512423, + 141.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 94.54477564512423, + 144.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 94.54477564512423, + 147.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 94.54477564512423, + 150.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 94.54477564512423, + 153.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 94.54477564512423, + 156.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 94.54477564512423, + 159.86708411927384, + 0.47090216588275613 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 94.54477564512423, + 159.86708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 96.04477564512423, + 162.46516033062716, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 97.54477564512423, + 165.06323654198047, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 99.04477564512423, + 167.6613127533338, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 100.54477564512423, + 170.2593889646871, + 0.47090216588275613 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 100.54477564512423, + 170.2593889646871, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 103.14285185647755, + 171.7593889646871, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 105.74092806783086, + 173.2593889646871, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 108.33900427918418, + 174.7593889646871, + 0.47090216588275613 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 108.33900427918418, + 174.7593889646871, + 0.47090216588275613 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 108.33900427918418, + 174.7593889646871, + 0.47090216588275613 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 108.33900427918418, + 174.7593889646871, + 0.47090216588275613 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 108.33900427918418, + 174.7593889646871, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 109.83900427918418, + 172.1613127533338, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 111.33900427918418, + 169.56323654198047, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 112.83900427918418, + 166.96516033062716, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 114.33900427918418, + 164.36708411927384, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 115.83900427918418, + 161.76900790792052, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 117.33900427918418, + 159.1709316965672, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 118.83900427918418, + 156.5728554852139, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 120.33900427918418, + 153.97477927386058, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 121.83900427918418, + 151.37670306250726, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 123.33900427918418, + 148.77862685115394, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 124.83900427918418, + 146.18055063980063, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 126.33900427918418, + 143.5824744284473, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 127.83900427918418, + 140.984398217094, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 129.3390042791842, + 138.38632200574068, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965936 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 130.8390042791842, + 135.78824579438736, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 132.3390042791842, + 133.19016958303405, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 133.8390042791842, + 130.59209337168073, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 135.3390042791842, + 127.99401716032742, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 136.8390042791842, + 125.3959409489741, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 138.3390042791842, + 122.79786473762078, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 139.8390042791842, + 120.19978852626747, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 141.3390042791842, + 117.60171231491415, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 142.8390042791842, + 115.00363610356084, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 144.3390042791842, + 112.40555989220752, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 145.8390042791842, + 109.8074836808542, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 147.3390042791842, + 107.20940746950089, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 148.8390042791842, + 104.61133125814757, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 150.3390042791842, + 102.01325504679426, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 151.8390042791842, + 99.41517883544094, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 153.3390042791842, + 96.81710262408762, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 154.8390042791842, + 94.21902641273431, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 156.3390042791842, + 91.62095020138099, + 0.47090216588275613 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 156.3390042791842, + 91.62095020138099, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 156.3390042791842, + 88.62095020138099, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 156.3390042791842, + 85.62095020138099, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 156.3390042791842, + 82.62095020138099, + 0.47090216588275613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 156.3390042791842, + 79.62095020138099, + 0.47090216588275613 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-1-14_155789224/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-1-14_155789224/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67ba2c39f84da968806c5adb22d4fc9ef3ce483c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-1-14_155789224/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -172.61039152813754, + -355.3346670066706, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -171.11039152813754, + -352.7365907953173, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -169.61039152813754, + -350.13851458396397, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -168.11039152813754, + -347.54043837261065, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -166.61039152813754, + -344.94236216125734, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -165.11039152813754, + -342.344285949904, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -163.61039152813754, + -339.7462097385507, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -162.11039152813754, + -337.1481335271974, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -160.61039152813754, + -334.55005731584407, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -159.11039152813754, + -331.95198110449076, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -157.61039152813754, + -329.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -156.11039152813754, + -326.7558286817841, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -154.61039152813754, + -324.1577524704308, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -153.11039152813754, + -321.5596762590775, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.61039152813754, + -318.9616000477242, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -150.11039152813754, + -316.36352383637086, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -148.61039152813754, + -313.76544762501754, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -147.11039152813754, + -311.1673714136642, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -145.61039152813754, + -308.5692952023109, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -144.11039152813754, + -305.9712189909576, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -142.61039152813754, + -303.3731427796043, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -141.11039152813754, + -300.77506656825096, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -139.61039152813754, + -298.17699035689765, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -138.11039152813754, + -295.57891414554433, + -1.9441137515085134 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -138.11039152813754, + -295.57891414554433, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -135.51231531678422, + -294.07891414554433, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -132.9142391054309, + -292.57891414554433, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -130.3161628940776, + -291.07891414554433, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -127.71808668272428, + -289.57891414554433, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -125.12001047137096, + -288.07891414554433, + -1.9441137515085134 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -125.12001047137096, + -288.07891414554433, + -1.9441137515085134 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -125.12001047137096, + -288.07891414554433, + -1.9441137515085134 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -125.12001047137096, + -288.07891414554433, + -1.9441137515085134 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -125.12001047137096, + -288.07891414554433, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -123.62001047137096, + -290.67699035689765, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -122.12001047137096, + -293.27506656825096, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -120.62001047137096, + -295.8731427796043, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -119.12001047137096, + -298.4712189909576, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -117.62001047137096, + -301.0692952023109, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -116.12001047137096, + -303.6673714136642, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -114.62001047137096, + -306.26544762501754, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -113.12001047137096, + -308.86352383637086, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -111.62001047137096, + -311.4616000477242, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -110.12001047137096, + -314.0596762590775, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -108.62001047137096, + -316.6577524704308, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -107.12001047137096, + -319.2558286817841, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -105.62001047137096, + -321.85390489313744, + -1.9441137515085134 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -105.62001047137096, + -321.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -103.02193426001764, + -323.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -100.42385804866433, + -324.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -97.82578183731101, + -326.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -95.2277056259577, + -327.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -92.62962941460438, + -329.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -90.03155320325106, + -330.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -87.43347699189775, + -332.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -84.83540078054443, + -333.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -82.23732456919112, + -335.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -79.6392483578378, + -336.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -77.04117214648448, + -338.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -74.44309593513117, + -339.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -71.84501972377785, + -341.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -69.24694351242454, + -342.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -66.64886730107122, + -344.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -64.0507910897179, + -345.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -61.45271487836459, + -347.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -58.85463866701127, + -348.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -56.256562455657956, + -350.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -53.65848624430464, + -351.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -51.060410032951324, + -353.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -48.46233382159801, + -354.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -45.86425761024469, + -356.35390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -43.266181398891376, + -357.85390489313744, + -1.9441137515085134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -40.66810518753806, + -359.35390489313744, + -1.9441137515085134 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-1-47_231602422/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-1-47_231602422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b280e6c310c1094038f71920c3f4e29fbe67af36 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-1-47_231602422/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -27.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -24.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -21.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -18.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -15.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -12.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -9.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -6.427152465408383, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -3.4271524654083834, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -0.42715246540838336, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2.5728475345916166, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 5.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 11.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 17.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 20.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 23.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 26.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 26.572847534591617, + -725.3723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 29.170923745944933, + -723.8723345102101, + 1.0625418989204878 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 29.170923745944933, + -723.8723345102101, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 30.670923745944933, + -721.2742582988567, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 32.17092374594493, + -718.6761820875033, + 1.0625418989204878 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 32.17092374594493, + -718.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 34.76899995729825, + -717.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 37.367076168651565, + -715.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 39.96515238000488, + -714.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 42.5632285913582, + -712.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 45.16130480271151, + -711.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 47.75938101406483, + -709.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 50.357457225418145, + -708.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 52.95553343677146, + -706.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 55.55360964812478, + -705.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 58.15168585947809, + -703.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 60.74976207083141, + -702.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 63.347838282184725, + -700.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 65.94591449353804, + -699.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 68.54399070489136, + -697.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 71.14206691624467, + -696.1761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 73.74014312759799, + -694.6761820875033, + 1.0625418989204878 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 73.74014312759799, + -694.6761820875033, + 1.0625418989204878 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 73.74014312759799, + -694.6761820875033, + 1.0625418989204878 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 73.74014312759799, + -694.6761820875033, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 72.24014312759799, + -692.07810587615, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 70.74014312759799, + -689.4800296647966, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 69.24014312759799, + -686.8819534534432, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 67.74014312759799, + -684.2838772420898, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 66.24014312759799, + -681.6858010307365, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 64.74014312759799, + -679.0877248193831, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 63.24014312759799, + -676.4896486080297, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 61.74014312759799, + -673.8915723966763, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 60.24014312759799, + -671.293496185323, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 58.74014312759799, + -668.6954199739696, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 57.24014312759799, + -666.0973437626162, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 55.74014312759799, + -663.4992675512628, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 54.24014312759799, + -660.9011913399095, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 52.74014312759799, + -658.3031151285561, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 51.24014312759799, + -655.7050389172027, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 49.74014312759799, + -653.1069627058494, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 48.24014312759799, + -650.508886494496, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 46.74014312759799, + -647.9108102831426, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 45.24014312759799, + -645.3127340717892, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 43.74014312759799, + -642.7146578604359, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 42.24014312759799, + -640.1165816490825, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 40.74014312759799, + -637.5185054377291, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 39.24014312759799, + -634.9204292263757, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 37.74014312759799, + -632.3223530150224, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 36.24014312759799, + -629.724276803669, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 34.74014312759799, + -627.1262005923156, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 33.24014312759799, + -624.5281243809623, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 31.74014312759799, + -621.9300481696089, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 30.24014312759799, + -619.3319719582555, + 1.0625418989204878 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 30.24014312759799, + -619.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 30.24014312759799, + -616.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 30.24014312759799, + -613.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 30.24014312759799, + -610.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 30.24014312759799, + -607.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 30.24014312759799, + -604.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 30.24014312759799, + -601.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 30.24014312759799, + -598.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 30.24014312759799, + -595.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 30.24014312759799, + -592.3319719582555, + 1.0625418989204878 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 30.24014312759799, + -589.3319719582555, + 1.0625418989204878 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-12-30_915256190/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-12-30_915256190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc438b04cba314af47c90229aa250a2a649de8cd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-12-30_915256190/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1346.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1349.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1352.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1355.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1358.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1361.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1364.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1367.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1367.8575512045118, + -233.2719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1370.4556274158651, + -231.7719340610029, + 4.626494128577395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1370.4556274158651, + -231.7719340610029, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1371.9556274158651, + -229.17385784964958, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1373.4556274158651, + -226.57578163829626, + 4.626494128577395 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1373.4556274158651, + -226.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1376.0537036272185, + -225.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1378.6517798385719, + -223.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1381.2498560499253, + -222.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1383.8479322612786, + -220.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1386.446008472632, + -219.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1389.0440846839854, + -217.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1391.6421608953387, + -216.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1394.2402371066921, + -214.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1396.8383133180455, + -213.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1399.4363895293989, + -211.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1402.0344657407522, + -210.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1404.6325419521056, + -208.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1407.230618163459, + -207.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1409.8286943748124, + -205.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1412.4267705861657, + -204.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1415.024846797519, + -202.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1417.6229230088725, + -201.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1420.2209992202258, + -199.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1422.8190754315792, + -198.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1425.4171516429326, + -196.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1428.015227854286, + -195.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1430.6133040656393, + -193.57578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1433.2113802769927, + -192.07578163829626, + 4.626494128577395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1433.2113802769927, + -192.07578163829626, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1434.7113802769927, + -189.47770542694295, + 4.626494128577395 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1434.7113802769927, + -189.47770542694295, + 4.626494128577395 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948868 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1434.7113802769927, + -189.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1434.7113802769927, + -186.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1434.7113802769927, + -183.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1434.7113802769927, + -180.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1434.7113802769927, + -177.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1434.7113802769927, + -174.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1434.7113802769927, + -171.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1434.7113802769927, + -168.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1434.7113802769927, + -165.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1434.7113802769927, + -162.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1434.7113802769927, + -159.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1434.7113802769927, + -156.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1434.7113802769927, + -153.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1434.7113802769927, + -150.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1434.7113802769927, + -147.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1434.7113802769927, + -144.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1434.7113802769927, + -141.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1434.7113802769927, + -138.47770542694295, + 4.626494128577395 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1434.7113802769927, + -138.47770542694295, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1433.2113802769927, + -135.87962921558963, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1431.7113802769927, + -133.28155300423632, + 4.626494128577395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1430.2113802769927, + -130.683476792883, + 4.626494128577395 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-12-3_1197352298/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-12-3_1197352298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..583efa2f20c0110f1542268db4b7ed7afb132966 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-12-3_1197352298/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 276.668591387907, + -26.41005142002723, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 278.168591387907, + -29.008127631380546, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 279.668591387907, + -31.606203842733862, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 281.168591387907, + -34.20428005408718, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 282.668591387907, + -36.802356265440494, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 284.168591387907, + -39.40043247679381, + 4.2941395036769485 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 284.168591387907, + -39.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 286.7666675992603, + -40.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 289.3647438106136, + -42.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 291.96282002196693, + -43.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 294.56089623332025, + -45.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.15897244467357, + -46.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 299.7570486560269, + -48.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 302.3551248673802, + -49.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 304.9532010787335, + -51.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 307.55127729008683, + -52.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 310.14935350144015, + -54.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 312.74742971279346, + -55.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 315.3455059241468, + -57.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 317.9435821355001, + -58.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 320.5416583468534, + -60.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 323.1397345582067, + -61.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 325.73781076956004, + -63.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.33588698091336, + -64.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.9339631922667, + -66.40043247679381, + 4.2941395036769485 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 330.9339631922667, + -66.40043247679381, + 4.2941395036769485 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 330.9339631922667, + -66.40043247679381, + 4.2941395036769485 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 330.9339631922667, + -66.40043247679381, + 4.2941395036769485 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 330.9339631922667, + -66.40043247679381, + 4.2941395036769485 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 330.9339631922667, + -66.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 328.33588698091336, + -67.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 325.73781076956004, + -69.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 323.1397345582067, + -70.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 320.5416583468534, + -72.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 317.9435821355001, + -73.90043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 315.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 315.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 312.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 309.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 303.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 300.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 297.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 294.3455059241468, + -75.40043247679381, + 4.2941395036769485 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-13-38_846942590/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-13-38_846942590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1afa18463bb339f58879877675c6edcd8097384 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-13-38_846942590/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 980.4960268441306, + -354.1446622361534, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 978.9960268441306, + -351.5465860248001, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 977.4960268441306, + -348.9485098134468, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 975.9960268441306, + -346.35043360209346, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 974.4960268441306, + -343.75235739074014, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 972.9960268441306, + -341.1542811793868, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 971.4960268441306, + -338.5562049680335, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 969.9960268441306, + -335.9581287566802, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 968.4960268441306, + -333.3600525453269, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 966.9960268441306, + -330.76197633397356, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 965.4960268441306, + -328.16390012262025, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 963.9960268441306, + -325.56582391126693, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 962.4960268441306, + -322.9677476999136, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 960.9960268441306, + -320.3696714885603, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 959.4960268441306, + -317.771595277207, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 957.9960268441306, + -315.17351906585367, + 0.8100717094747427 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 957.9960268441306, + -315.17351906585367, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 955.3979506327773, + -313.67351906585367, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 952.799874421424, + -312.17351906585367, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 950.2017982100706, + -310.67351906585367, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 947.6037219987172, + -309.17351906585367, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 945.0056457873638, + -307.67351906585367, + 0.8100717094747427 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 945.0056457873638, + -307.67351906585367, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 943.5056457873638, + -305.07544285450035, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 942.0056457873638, + -302.47736664314704, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 940.5056457873638, + -299.8792904317937, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 939.0056457873638, + -297.2812142204404, + 0.8100717094747427 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 939.0056457873638, + -297.2812142204404, + 0.8100717094747427 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 939.0056457873638, + -297.2812142204404, + 0.8100717094747427 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 939.0056457873638, + -297.2812142204404, + 0.8100717094747427 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 939.0056457873638, + -297.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 941.6037219987172, + -295.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 944.2017982100706, + -294.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 946.799874421424, + -292.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 949.3979506327773, + -291.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 951.9960268441307, + -289.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 954.5941030554841, + -288.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 957.1921792668375, + -286.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 959.7902554781908, + -285.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 962.3883316895442, + -283.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 964.9864079008976, + -282.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 967.584484112251, + -280.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 970.1825603236043, + -279.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 972.7806365349577, + -277.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 975.3787127463111, + -276.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 977.9767889576644, + -274.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 980.5748651690178, + -273.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 983.1729413803712, + -271.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 985.7710175917246, + -270.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 988.3690938030779, + -268.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 990.9671700144313, + -267.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 993.5652462257847, + -265.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 996.163322437138, + -264.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 998.7613986484914, + -262.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1001.3594748598448, + -261.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1003.9575510711982, + -259.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1006.5556272825515, + -258.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1009.1537034939049, + -256.7812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1011.7517797052583, + -255.2812142204404, + 0.8100717094747427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1014.3498559166117, + -253.7812142204404, + 0.8100717094747427 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-13-5_1782280524/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-13-5_1782280524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49411e5474e2efb41edf80cadf2fae45fc9b8db2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-13-5_1782280524/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 398.15197030224886, + -162.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 400.7500465136022, + -163.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 403.3481227249555, + -165.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 405.9461989363088, + -166.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 408.5442751476621, + -168.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 411.14235135901544, + -169.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.74042757036875, + -171.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 416.33850378172207, + -172.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 418.9365799930754, + -174.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 421.5346562044287, + -175.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 424.132732415782, + -177.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 426.73080862713533, + -178.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 429.32888483848865, + -180.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 431.92696104984196, + -181.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 434.5250372611953, + -183.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 437.1231134725486, + -184.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 439.7211896839019, + -186.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 442.3192658952552, + -187.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 444.91734210660854, + -189.32557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 447.51541831796186, + -190.82557748110426, + -0.29345067584443196 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 447.51541831796186, + -190.82557748110426, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 449.01541831796186, + -193.42365369245758, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 450.51541831796186, + -196.0217299038109, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 452.01541831796186, + -198.6198061151642, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 453.51541831796186, + -201.21788232651753, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 455.01541831796186, + -203.81595853787084, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 456.51541831796186, + -206.41403474922416, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 458.01541831796186, + -209.01211096057747, + -0.29345067584443196 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 458.01541831796186, + -209.01211096057747, + -0.29345067584443196 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 458.01541831796186, + -209.01211096057747, + -0.29345067584443196 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 458.01541831796186, + -209.01211096057747, + -0.29345067584443196 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 458.01541831796186, + -209.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 455.41734210660854, + -210.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 452.8192658952552, + -212.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 450.2211896839019, + -213.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 447.6231134725486, + -215.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 445.0250372611953, + -216.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 442.42696104984196, + -218.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 439.82888483848865, + -219.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 437.23080862713533, + -221.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 434.632732415782, + -222.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 432.0346562044287, + -224.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 429.4365799930754, + -225.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 426.83850378172207, + -227.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 424.24042757036875, + -228.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 421.64235135901544, + -230.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 419.0442751476621, + -231.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 416.4461989363088, + -233.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 413.8481227249555, + -234.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 411.2500465136022, + -236.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 408.65197030224886, + -237.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 406.05389409089554, + -239.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 403.4558178795422, + -240.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 400.8577416681889, + -242.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 398.2596654568356, + -243.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 395.6615892454823, + -245.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 393.06351303412896, + -246.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 390.46543682277564, + -248.01211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 387.8673606114223, + -249.51211096057747, + -0.29345067584443196 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 387.8673606114223, + -249.51211096057747, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 386.3673606114223, + -252.1101871719308, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 384.8673606114223, + -254.7082633832841, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 383.3673606114223, + -257.3063395946374, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 381.8673606114223, + -259.9044158059907, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 380.3673606114223, + -262.502492017344, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 378.8673606114223, + -265.10056822869734, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 377.3673606114223, + -267.69864444005066, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 375.8673606114223, + -270.296720651404, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 374.3673606114223, + -272.8947968627573, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 372.8673606114223, + -275.4928730741106, + -0.29345067584443196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 371.3673606114223, + -278.0909492854639, + -0.29345067584443196 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-14-7_524688209/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-14-7_524688209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00b7dbf1d2d474089091290f7b79f2f13fd1b9ba --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-14-7_524688209/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 71.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 74.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 77.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 80.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 86.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 89.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 95.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 98.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 101.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 104.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 104.83878139114438, + 40.581665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 107.4368576024977, + 42.081665726610055, + 2.265123459702094 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 107.4368576024977, + 42.081665726610055, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 108.9368576024977, + 44.67974193796337, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 110.4368576024977, + 47.27781814931669, + 2.265123459702094 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 110.4368576024977, + 47.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 113.03493381385101, + 48.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 115.63301002520433, + 50.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 118.23108623655764, + 51.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 120.82916244791096, + 53.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 123.42723865926428, + 54.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 126.02531487061759, + 56.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 128.6233910819709, + 57.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 131.22146729332422, + 59.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 133.81954350467754, + 60.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 136.41761971603086, + 62.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 139.01569592738417, + 63.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 141.6137721387375, + 65.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 144.2118483500908, + 66.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 146.80992456144412, + 68.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 149.40800077279744, + 69.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 152.00607698415075, + 71.27781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 154.60415319550407, + 72.77781814931669, + 2.265123459702094 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 154.60415319550407, + 72.77781814931669, + 2.265123459702094 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 154.60415319550407, + 72.77781814931669, + 2.265123459702094 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 154.60415319550407, + 72.77781814931669, + 2.265123459702094 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 154.60415319550407, + 72.77781814931669, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 153.10415319550407, + 75.37589436067, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 151.60415319550407, + 77.97397057202332, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 150.10415319550407, + 80.57204678337663, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 148.60415319550407, + 83.17012299472995, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 147.10415319550407, + 85.76819920608327, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 145.60415319550407, + 88.36627541743658, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 144.10415319550407, + 90.9643516287899, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 142.60415319550407, + 93.56242784014322, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 141.10415319550407, + 96.16050405149653, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 139.60415319550407, + 98.75858026284985, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 138.10415319550407, + 101.35665647420316, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 136.60415319550407, + 103.95473268555648, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 135.10415319550407, + 106.5528088969098, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 133.60415319550407, + 109.15088510826311, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 132.10415319550407, + 111.74896131961643, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 130.60415319550407, + 114.34703753096974, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 129.10415319550407, + 116.94511374232306, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 127.60415319550407, + 119.54318995367638, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 126.10415319550407, + 122.14126616502969, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 124.60415319550407, + 124.73934237638301, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 123.10415319550407, + 127.33741858773632, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 121.60415319550407, + 129.93549479908964, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 120.10415319550407, + 132.53357101044296, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 118.60415319550407, + 135.13164722179627, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 117.10415319550407, + 137.7297234331496, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 115.60415319550407, + 140.3277996445029, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 114.10415319550407, + 142.92587585585622, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 112.60415319550407, + 145.52395206720954, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 111.10415319550407, + 148.12202827856285, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 109.60415319550407, + 150.72010448991617, + 2.265123459702094 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 109.60415319550407, + 150.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 109.60415319550407, + 153.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 109.60415319550407, + 156.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 109.60415319550407, + 159.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 109.60415319550407, + 162.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.60415319550407, + 165.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 109.60415319550407, + 168.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 109.60415319550407, + 171.72010448991617, + 2.265123459702094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.60415319550407, + 174.72010448991617, + 2.265123459702094 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-15-30_1566288819/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-15-30_1566288819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0efc9db482462625d7f807510d45c8dc2dbd9c7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-15-30_1566288819/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -309.17114004615286, + 28.79533447967109, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -307.67114004615286, + 26.197258268317775, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -306.17114004615286, + 23.59918205696446, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -304.67114004615286, + 21.001105845611143, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -303.17114004615286, + 18.403029634257827, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -301.67114004615286, + 15.80495342290451, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -300.17114004615286, + 13.206877211551195, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -298.67114004615286, + 10.608801000197879, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -297.17114004615286, + 8.010724788844563, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -295.67114004615286, + 5.412648577491247, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -294.17114004615286, + 2.8145723661379307, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -292.67114004615286, + 0.2164961547846147, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -291.17114004615286, + -2.3815800565687013, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -289.67114004615286, + -4.979656267922017, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -288.17114004615286, + -7.577732479275333, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -286.67114004615286, + -10.17580869062865, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -285.17114004615286, + -12.773884901981965, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -283.67114004615286, + -15.371961113335281, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -282.17114004615286, + -17.970037324688597, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -280.67114004615286, + -20.568113536041913, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -279.17114004615286, + -23.16618974739523, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -277.67114004615286, + -25.764265958748545, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -276.17114004615286, + -28.36234217010186, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -274.67114004615286, + -30.960418381455177, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -273.17114004615286, + -33.55849459280849, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -271.67114004615286, + -36.15657080416181, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -270.17114004615286, + -38.754647015515125, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -268.67114004615286, + -41.35272322686844, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -267.17114004615286, + -43.95079943822176, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -265.67114004615286, + -46.54887564957507, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -264.17114004615286, + -49.14695186092839, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -262.67114004615286, + -51.745028072281706, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -261.17114004615286, + -54.34310428363502, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -259.67114004615286, + -56.94118049498834, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -258.17114004615286, + -59.539256706341654, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -256.67114004615286, + -62.13733291769497, + -4.676797208057433 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -256.67114004615286, + -62.13733291769497, + -4.676797208057433 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.67114004615286, + -62.13733291769497, + -4.676797208057433 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -256.67114004615286, + -62.13733291769497, + -4.676797208057433 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -256.67114004615286, + -62.13733291769497, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -259.2692162575062, + -63.63733291769497, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -261.8672924688595, + -65.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -264.4653686802128, + -66.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -267.0634448915661, + -68.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -269.66152110291944, + -69.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -272.25959731427275, + -71.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -274.85767352562607, + -72.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -277.4557497369794, + -74.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -280.0538259483327, + -75.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -282.651902159686, + -77.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -285.24997837103933, + -78.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -287.84805458239265, + -80.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -290.44613079374597, + -81.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -293.0442070050993, + -83.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -295.6422832164526, + -84.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -298.2403594278059, + -86.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -300.83843563915923, + -87.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -303.43651185051255, + -89.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -306.03458806186586, + -90.63733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -308.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -308.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -311.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -314.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -317.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -320.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -323.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -326.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -329.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -332.6326642732192, + -92.13733291769496, + -4.676797208057433 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-16-41_2114937732/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-16-41_2114937732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87b4d12be3103f4696cfb65b3f443c2769cb6b75 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-16-41_2114937732/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1545.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1542.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1539.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1536.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1533.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1530.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1527.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1524.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1521.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1518.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1515.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1512.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1509.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1506.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1503.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1500.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1497.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1494.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1491.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1488.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1485.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1482.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1479.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1476.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1473.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1470.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1470.7347633969912, + -105.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1468.1366871856378, + -104.00305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1465.5386109742844, + -102.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1462.940534762931, + -101.00305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1460.3424585515777, + -99.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1457.7443823402243, + -98.00305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1455.146306128871, + -96.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1452.5482299175176, + -95.00305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1449.9501537061642, + -93.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1447.3520774948108, + -92.00305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1444.7540012834575, + -90.50305059112657, + 2.745774670660336 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1444.7540012834575, + -90.50305059112657, + 2.745774670660336 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1444.7540012834575, + -90.50305059112657, + 2.745774670660336 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1444.7540012834575, + -90.50305059112657, + 2.745774670660336 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1444.7540012834575, + -90.50305059112657, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1446.2540012834575, + -87.90497437977325, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1447.7540012834575, + -85.30689816841993, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1449.2540012834575, + -82.70882195706662, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1450.7540012834575, + -80.1107457457133, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1452.2540012834575, + -77.51266953435999, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1453.7540012834575, + -74.91459332300667, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1455.2540012834575, + -72.31651711165335, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1456.7540012834575, + -69.71844090030004, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1458.2540012834575, + -67.12036468894672, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1459.7540012834575, + -64.5222884775934, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1461.2540012834575, + -61.92421226624009, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1462.7540012834575, + -59.326136054886774, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1464.2540012834575, + -56.72805984353346, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1465.7540012834575, + -54.12998363218014, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1467.2540012834575, + -51.531907420826826, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1468.7540012834575, + -48.93383120947351, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1470.2540012834575, + -46.335754998120194, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1471.7540012834575, + -43.73767878676688, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1473.2540012834575, + -41.13960257541356, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1474.7540012834575, + -38.541526364060246, + 2.745774670660336 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1474.7540012834575, + -38.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1474.7540012834575, + -35.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1474.7540012834575, + -32.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1474.7540012834575, + -29.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1474.7540012834575, + -26.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1474.7540012834575, + -23.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1474.7540012834575, + -20.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1474.7540012834575, + -17.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1474.7540012834575, + -14.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1474.7540012834575, + -11.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1474.7540012834575, + -8.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1474.7540012834575, + -5.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1474.7540012834575, + -2.541526364060246, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1474.7540012834575, + 0.4584736359397539, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1474.7540012834575, + 3.458473635939754, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1474.7540012834575, + 6.458473635939754, + 2.745774670660336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1474.7540012834575, + 9.458473635939754, + 2.745774670660336 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-17-17_726371155/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-17-17_726371155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b062ea9b4049362686aadf0b72a49476f1235d3c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-17-17_726371155/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 334.7063875830402, + 20.29999540011957, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 333.2063875830402, + 17.701919188766254, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 331.7063875830402, + 15.103842977412938, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 330.2063875830402, + 12.505766766059622, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 328.7063875830402, + 9.907690554706306, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 327.2063875830402, + 7.30961434335299, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 325.7063875830402, + 4.711538131999674, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 324.2063875830402, + 2.1134619206463583, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.7063875830402, + -0.4846142907069577, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 321.2063875830402, + -3.0826905020602737, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 319.7063875830402, + -5.68076671341359, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 318.2063875830402, + -8.278842924766906, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 316.7063875830402, + -10.876919136120222, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 315.2063875830402, + -13.474995347473538, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 313.7063875830402, + -16.073071558826854, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 312.2063875830402, + -18.67114777018017, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 310.7063875830402, + -21.269223981533486, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 309.2063875830402, + -23.867300192886802, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 307.7063875830402, + -26.465376404240118, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 306.2063875830402, + -29.063452615593434, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 304.7063875830402, + -31.66152882694675, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 303.2063875830402, + -34.259605038300066, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 301.7063875830402, + -36.85768124965338, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 300.2063875830402, + -39.4557574610067, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 298.7063875830402, + -42.053833672360014, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.2063875830402, + -44.65190988371333, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 295.7063875830402, + -47.249986095066646, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 294.2063875830402, + -49.84806230641996, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 292.7063875830402, + -52.44613851777328, + -2.963261385394491 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 292.7063875830402, + -52.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 292.7063875830402, + -55.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 292.7063875830402, + -58.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 292.7063875830402, + -61.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 292.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 292.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 292.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 292.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 295.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 298.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 301.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 304.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 307.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 310.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 313.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 316.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 319.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 322.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 325.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 328.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 328.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 328.7063875830402, + -64.44613851777328, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 330.2063875830402, + -67.0442147291266, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 331.7063875830402, + -69.64229094047991, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 333.2063875830402, + -72.24036715183323, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 334.7063875830402, + -74.83844336318654, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 336.2063875830402, + -77.43651957453986, + -2.963261385394491 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 337.7063875830402, + -80.03459578589317, + -2.963261385394491 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-18-17_292218004/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-18-17_292218004/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d12a6acda42b3c1faacca6aa33c8e29065f9d578 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-18-17_292218004/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1023.0333322633398, + 61.85712965253795, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1021.5333322633398, + 64.45520586389127, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1020.0333322633398, + 67.05328207524458, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1018.5333322633398, + 69.6513582865979, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1017.0333322633398, + 72.24943449795121, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1015.5333322633398, + 74.84751070930453, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1014.0333322633398, + 77.44558692065785, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1012.5333322633398, + 80.04366313201116, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1011.0333322633398, + 82.64173934336448, + 0.23437031447493428 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1011.0333322633398, + 82.64173934336448, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1011.0333322633398, + 85.64173934336448, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1011.0333322633398, + 88.64173934336448, + 0.23437031447493428 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1011.0333322633398, + 88.64173934336448, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1012.5333322633398, + 91.2398155547178, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1014.0333322633398, + 93.83789176607111, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1015.5333322633398, + 96.43596797742443, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1017.0333322633398, + 99.03404418877774, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1018.5333322633398, + 101.63212040013106, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1020.0333322633398, + 104.23019661148437, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1021.5333322633398, + 106.82827282283769, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1023.0333322633398, + 109.426349034191, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1024.5333322633398, + 112.02442524554432, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1026.0333322633398, + 114.62250145689764, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1027.5333322633398, + 117.22057766825095, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1029.0333322633398, + 119.81865387960427, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1030.5333322633398, + 122.41673009095759, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1032.0333322633398, + 125.0148063023109, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1033.5333322633398, + 127.61288251366422, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1035.0333322633398, + 130.21095872501752, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1036.5333322633398, + 132.80903493637084, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1038.0333322633398, + 135.40711114772415, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1039.5333322633398, + 138.00518735907747, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1041.0333322633398, + 140.60326357043078, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1042.5333322633398, + 143.2013397817841, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1044.0333322633398, + 145.79941599313742, + 0.23437031447493428 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1044.0333322633398, + 145.79941599313742, + 0.23437031447493428 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1044.0333322633398, + 145.79941599313742, + 0.23437031447493428 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1042.5333322633398, + 148.39749220449073, + 0.23437031447493428 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-18-38_882160379/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-18-38_882160379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62ff519e9fdbe779d82f08e3491f7e3dee4d767b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-18-38_882160379/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1551.7673079673236, + 43.11505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1549.1692317559703, + 41.61505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1546.5711555446169, + 40.11505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1543.9730793332635, + 38.61505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1541.3750031219101, + 37.11505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1538.7769269105568, + 35.61505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1536.1788506992034, + 34.11505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1533.58077448785, + 32.61505600337887, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1530.9826982764966, + 31.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1528.3846220651433, + 29.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1525.78654585379, + 28.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1523.1884696424365, + 26.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1520.5903934310832, + 25.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1517.9923172197298, + 23.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1515.3942410083764, + 22.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1512.796164797023, + 20.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1510.1980885856697, + 19.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1507.6000123743163, + 17.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1505.001936162963, + 16.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1502.4038599516095, + 14.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1499.8057837402562, + 13.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1497.2077075289028, + 11.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1494.6096313175494, + 10.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1492.011555106196, + 8.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1489.4134788948427, + 7.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1486.8154026834893, + 5.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1484.217326472136, + 4.115056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1481.6192502607826, + 2.615056003378868, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1479.0211740494292, + 1.1150560033788681, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1476.4230978380758, + -0.38494399662113166, + -1.0937960382616136 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1476.4230978380758, + -0.38494399662113166, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1473.4230978380758, + -0.38494399662113127, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1470.4230978380758, + -0.3849439966211309, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1467.4230978380758, + -0.3849439966211305, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1464.4230978380758, + -0.3849439966211301, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1461.4230978380758, + -0.3849439966211297, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1458.4230978380758, + -0.3849439966211293, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1455.4230978380758, + -0.38494399662112894, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1452.4230978380758, + -0.38494399662112855, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1449.4230978380758, + -0.38494399662112816, + -1.0937960382616136 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1449.4230978380758, + -0.38494399662112816, + -1.0937960382616136 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1449.4230978380758, + -0.38494399662112816, + -1.0937960382616136 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1449.4230978380758, + -0.38494399662112816, + -1.0937960382616136 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1449.4230978380758, + -0.38494399662112816, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1449.4230978380758, + -3.384943996621128, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1449.4230978380758, + -6.3849439966211285, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1449.4230978380758, + -9.384943996621129, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1449.4230978380758, + -12.384943996621129, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1449.4230978380758, + -15.384943996621129, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1449.4230978380758, + -18.38494399662113, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1449.4230978380758, + -21.38494399662113, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1449.4230978380758, + -24.38494399662113, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1449.4230978380758, + -27.38494399662113, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1449.4230978380758, + -30.38494399662113, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1449.4230978380758, + -33.38494399662113, + -1.0937960382616136 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1449.4230978380758, + -33.38494399662113, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1447.9230978380758, + -35.98302020797445, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1446.4230978380758, + -38.581096419327764, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1444.9230978380758, + -41.17917263068108, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1443.4230978380758, + -43.777248842034396, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1441.9230978380758, + -46.37532505338771, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1440.4230978380758, + -48.97340126474103, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1438.9230978380758, + -51.571477476094344, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1437.4230978380758, + -54.16955368744766, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1435.9230978380758, + -56.767629898800976, + -1.0937960382616136 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1434.4230978380758, + -59.36570611015429, + -1.0937960382616136 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-19-54_1682085273/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-19-54_1682085273/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec6b552c74a1e0e0651c8d93d2551da4ab4a53c9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-19-54_1682085273/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 48.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 51.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 54.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 57.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 60.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 63.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 66.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 69.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 72.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 75.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 78.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 81.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 84.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 87.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 90.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 93.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 96.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 99.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 102.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 105.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 108.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 111.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 114.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 117.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 120.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 123.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 126.67677734474559, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 129.67677734474557, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 132.67677734474557, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 135.67677734474557, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 138.67677734474557, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 141.67677734474557, + 90.41736562466002, + -4.390026140038338 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 141.67677734474557, + 90.41736562466002, + -4.390026140038338 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 141.67677734474557, + 90.41736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 143.17677734474557, + 87.8192894133067, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 144.67677734474557, + 85.22121320195339, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 146.17677734474557, + 82.62313699060007, + -4.390026140038338 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 146.17677734474557, + 82.62313699060007, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 148.7748535560989, + 81.12313699060007, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 151.3729297674522, + 79.62313699060007, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 153.97100597880552, + 78.12313699060007, + -4.390026140038338 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 153.97100597880552, + 78.12313699060007, + -4.390026140038338 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 153.97100597880552, + 78.12313699060007, + -4.390026140038338 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 153.97100597880552, + 78.12313699060007, + -4.390026140038338 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 153.97100597880552, + 78.12313699060007, + -4.390026140038338 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 153.97100597880552, + 78.12313699060007, + -4.390026140038338 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 153.97100597880552, + 78.12313699060007, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 152.47100597880552, + 80.72121320195339, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 150.97100597880552, + 83.3192894133067, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 149.47100597880552, + 85.91736562466002, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 147.97100597880552, + 88.51544183601334, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 146.47100597880552, + 91.11351804736665, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 144.97100597880552, + 93.71159425871997, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 143.47100597880552, + 96.30967047007329, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 141.97100597880552, + 98.9077466814266, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 140.47100597880552, + 101.50582289277992, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 138.97100597880552, + 104.10389910413323, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 137.47100597880552, + 106.70197531548655, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 135.97100597880552, + 109.30005152683987, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 134.47100597880552, + 111.89812773819318, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 132.97100597880552, + 114.4962039495465, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 131.47100597880552, + 117.09428016089981, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 129.97100597880552, + 119.69235637225313, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 128.47100597880552, + 122.29043258360645, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 126.97100597880552, + 124.88850879495976, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 125.47100597880552, + 127.48658500631308, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 123.97100597880552, + 130.0846612176664, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 122.47100597880552, + 132.6827374290197, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 120.97100597880552, + 135.28081364037303, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 119.47100597880552, + 137.87888985172634, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 117.97100597880552, + 140.47696606307966, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 116.47100597880552, + 143.07504227443297, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 114.97100597880552, + 145.6731184857863, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 113.47100597880552, + 148.2711946971396, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 111.97100597880552, + 150.86927090849292, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 110.47100597880552, + 153.46734711984624, + -4.390026140038338 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 110.47100597880552, + 153.46734711984624, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 110.47100597880552, + 156.46734711984624, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 110.47100597880552, + 159.46734711984624, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 110.47100597880552, + 162.46734711984624, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 110.47100597880552, + 165.46734711984624, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 110.47100597880552, + 168.46734711984624, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 110.47100597880552, + 171.46734711984624, + -4.390026140038338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 110.47100597880552, + 174.46734711984624, + -4.390026140038338 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-2-51_780821396/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-2-51_780821396/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd4254c743a89f2c1b0a72555137783c9c761546 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-2-51_780821396/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1023.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1020.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1017.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1014.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1011.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1008.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1005.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1002.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 999.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 996.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 993.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 990.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 987.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 984.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 981.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 981.9530870731545, + -289.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 979.3550108618012, + -288.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 976.7569346504479, + -286.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 974.1588584390945, + -285.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 971.5607822277411, + -283.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 968.9627060163878, + -282.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 966.3646298050344, + -280.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 963.766553593681, + -279.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 961.1684773823276, + -277.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 958.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 958.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 958.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 958.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 958.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 958.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 958.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 961.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 964.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 967.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 970.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 970.5704011709743, + -276.31817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 973.1684773823276, + -274.81817289656783, + -4.125668125270146 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 973.1684773823276, + -274.81817289656783, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 974.6684773823276, + -272.2200966852145, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 976.1684773823276, + -269.6220204738612, + -4.125668125270146 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 976.1684773823276, + -269.6220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 978.766553593681, + -268.1220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 981.3646298050344, + -266.6220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 983.9627060163878, + -265.1220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 986.5607822277411, + -263.6220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 989.1588584390945, + -262.1220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 991.7569346504479, + -260.6220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 994.3550108618012, + -259.1220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 996.9530870731546, + -257.6220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 999.551163284508, + -256.1220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1002.1492394958614, + -254.6220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1004.7473157072147, + -253.1220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1007.3453919185681, + -251.6220204738612, + -4.125668125270146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1009.9434681299215, + -250.1220204738612, + -4.125668125270146 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-22-55_1548348142/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-22-55_1548348142/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d95a2f3e0dbb00439f8316e90f9f0f4c3a71b51f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-22-55_1548348142/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -304.4208685580118, + -372.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -301.8227923466585, + -373.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -299.2247161353052, + -375.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -296.62663992395187, + -376.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -294.02856371259855, + -378.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -291.43048750124524, + -379.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -288.8324112898919, + -381.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -286.2343350785386, + -382.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -283.6362588671853, + -384.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -281.038182655832, + -385.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -278.44010644447866, + -387.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -275.84203023312534, + -388.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -273.243954021772, + -390.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -270.6458778104187, + -391.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -268.0478015990654, + -393.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -265.4497253877121, + -394.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -262.85164917635876, + -396.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -260.25357296500545, + -397.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -257.65549675365213, + -399.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -255.05742054229881, + -400.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -252.4593443309455, + -402.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -249.86126811959218, + -403.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -247.26319190823887, + -405.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -244.66511569688555, + -406.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -242.06703948553223, + -408.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -239.46896327417892, + -409.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -236.8708870628256, + -411.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -234.2728108514723, + -412.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -231.67473464011897, + -414.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.07665842876565, + -415.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -226.47858221741234, + -417.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -223.88050600605902, + -418.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -221.2824297947057, + -420.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -218.6843535833524, + -421.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -216.08627737199907, + -423.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -213.48820116064576, + -424.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -210.89012494929244, + -426.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -208.29204873793913, + -427.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -205.6939725265858, + -429.11159654994975, + -1.465160913207412 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -205.6939725265858, + -429.11159654994975, + -1.465160913207412 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -205.6939725265858, + -429.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -205.6939725265858, + -432.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -205.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -205.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -205.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -205.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -205.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -202.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -199.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -196.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -193.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -193.6939725265858, + -435.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -191.0958963152325, + -433.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -188.49782010387918, + -432.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -185.89974389252586, + -430.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -183.30166768117255, + -429.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -180.70359146981923, + -427.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -178.1055152584659, + -426.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -175.5074390471126, + -424.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -172.90936283575928, + -423.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -170.31128662440597, + -421.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -167.71321041305265, + -420.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -165.11513420169933, + -418.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -162.51705799034602, + -417.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -159.9189817789927, + -415.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -157.3209055676394, + -414.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -154.72282935628607, + -412.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -152.12475314493275, + -411.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -149.52667693357944, + -409.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -146.92860072222612, + -408.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -144.3305245108728, + -406.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -141.7324482995195, + -405.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -139.13437208816617, + -403.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -136.53629587681286, + -402.11159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -133.93821966545954, + -400.61159654994975, + -1.465160913207412 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -131.34014345410623, + -399.11159654994975, + -1.465160913207412 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-23-36_105575579/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-23-36_105575579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83925d5e3a0c2ad5114b6f5f8b71f0ca9f0b1d2b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-23-36_105575579/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 580.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 583.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 586.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 589.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 592.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 595.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 598.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 601.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 604.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 604.4896909934228, + -35.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 607.0877672047761, + -36.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 609.6858434161295, + -38.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 612.2839196274829, + -39.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 614.8819958388362, + -41.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 617.4800720501896, + -42.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 620.078148261543, + -44.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 622.6762244728964, + -45.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 625.2743006842497, + -47.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 627.8723768956031, + -48.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 630.4704531069565, + -50.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 633.0685293183099, + -51.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 635.6666055296632, + -53.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 638.2646817410166, + -54.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 640.86275795237, + -56.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 643.4608341637233, + -57.98594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 646.0589103750767, + -59.48594986358719, + -4.0705971150809335 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 646.0589103750767, + -59.48594986358719, + -4.0705971150809335 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 646.0589103750767, + -59.48594986358719, + -4.0705971150809335 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 646.0589103750767, + -59.48594986358719, + -4.0705971150809335 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 646.0589103750767, + -59.48594986358719, + -4.0705971150809335 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 646.0589103750767, + -59.48594986358719, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 644.5589103750767, + -56.88787365223387, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 643.0589103750767, + -54.289797440880555, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 641.5589103750767, + -51.69172122952724, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 640.0589103750767, + -49.09364501817392, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 638.5589103750767, + -46.49556880682061, + -4.0705971150809335 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 638.5589103750767, + -46.49556880682061, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 638.5589103750767, + -43.49556880682061, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 638.5589103750767, + -40.49556880682061, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 638.5589103750767, + -37.49556880682061, + -4.0705971150809335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 638.5589103750767, + -34.49556880682061, + -4.0705971150809335 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-25-6_1520223205/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-25-6_1520223205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f87ea6f089d948d06cca2e55294287a3963c67e9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-25-6_1520223205/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 38.083343264866244, + 128.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 40.68141947621956, + 126.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 43.279495687572876, + 125.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.87757189892619, + 123.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 48.47564811027951, + 122.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 51.073724321632824, + 120.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 53.67180053298614, + 119.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 56.269876744339456, + 117.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.86795295569277, + 116.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 61.46602916704609, + 114.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 64.0641053783994, + 113.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 66.66218158975272, + 111.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 69.26025780110604, + 110.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 71.85833401245935, + 108.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 74.45641022381267, + 107.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 77.05448643516598, + 105.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 79.6525626465193, + 104.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 82.25063885787262, + 102.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 84.84871506922593, + 101.25492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 87.44679128057925, + 99.75492484990153, + 4.221188708620922 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 87.44679128057925, + 99.75492484990153, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 88.94679128057925, + 97.15684863854821, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 90.44679128057925, + 94.5587724271949, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 91.94679128057925, + 91.96069621584158, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 93.44679128057925, + 89.36262000448826, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 94.94679128057925, + 86.76454379313495, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 96.44679128057925, + 84.16646758178163, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 97.94679128057925, + 81.56839137042832, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 99.44679128057925, + 78.970315159075, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 100.94679128057925, + 76.37223894772168, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 102.44679128057925, + 73.77416273636837, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 103.94679128057925, + 71.17608652501505, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.44679128057925, + 68.57801031366174, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 106.94679128057925, + 65.97993410230842, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 108.44679128057925, + 63.381857890955104, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 109.94679128057925, + 60.78378167960179, + 4.221188708620922 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 109.94679128057925, + 60.78378167960179, + 4.221188708620922 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 109.94679128057925, + 60.78378167960179, + 4.221188708620922 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 109.94679128057925, + 60.78378167960179, + 4.221188708620922 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 109.94679128057925, + 60.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 107.34871506922593, + 59.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 104.75063885787262, + 57.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 102.1525626465193, + 56.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 99.55448643516598, + 54.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 96.95641022381267, + 53.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 94.35833401245935, + 51.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 91.76025780110604, + 50.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 89.16218158975272, + 48.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 86.5641053783994, + 47.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 83.96602916704609, + 45.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 81.36795295569277, + 44.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 78.76987674433946, + 42.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 76.17180053298614, + 41.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 73.57372432163282, + 39.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 70.97564811027951, + 38.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 68.37757189892619, + 36.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 65.77949568757288, + 35.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 63.18141947621956, + 33.78378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 60.583343264866244, + 32.28378167960179, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 57.98526705351293, + 30.783781679601788, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 55.38719084215961, + 29.283781679601788, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 52.789114630806296, + 27.783781679601788, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 50.19103841945298, + 26.283781679601788, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 47.592962208099664, + 24.783781679601788, + 4.221188708620922 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 47.592962208099664, + 24.783781679601788, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 46.092962208099664, + 22.18570546824847, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 44.592962208099664, + 19.587629256895156, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 43.092962208099664, + 16.98955304554184, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 41.592962208099664, + 14.391476834188524, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 40.092962208099664, + 11.793400622835208, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 38.592962208099664, + 9.195324411481892, + 4.221188708620922 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 38.592962208099664, + 9.195324411481892, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 35.99488599674635, + 7.6953244114818915, + 4.221188708620922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 33.39680978539303, + 6.1953244114818915, + 4.221188708620922 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-28-11_213801961/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-28-11_213801961/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e5691a04c3b91bfa60ea08a2d112be15dad36b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-28-11_213801961/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 939.8199760523225, + -210.8052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 937.2218998409692, + -212.3052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 934.6238236296158, + -213.8052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 932.0257474182624, + -215.3052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 929.427671206909, + -216.8052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 926.8295949955557, + -218.3052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 924.2315187842023, + -219.8052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 921.6334425728489, + -221.3052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 919.0353663614956, + -222.8052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 916.4372901501422, + -224.3052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 913.8392139387888, + -225.8052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 911.2411377274354, + -227.3052044318113, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 911.2411377274354, + -227.3052044318113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 909.7411377274354, + -229.9032806431646, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 908.2411377274354, + -232.50135685451792, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 906.7411377274354, + -235.09943306587124, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 905.2411377274354, + -237.69750927722455, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 903.7411377274354, + -240.29558548857787, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 902.2411377274354, + -242.8936616999312, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 900.7411377274354, + -245.4917379112845, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 899.2411377274354, + -248.08981412263782, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 897.7411377274354, + -250.68789033399113, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 896.2411377274354, + -253.28596654534445, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 894.7411377274354, + -255.88404275669777, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 893.2411377274354, + -258.48211896805105, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 891.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 891.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267949014 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 891.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 891.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983036 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 891.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": -4.884981308350689e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 891.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 894.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 897.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 900.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 903.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 906.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 909.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 912.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 915.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 918.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 921.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 924.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 927.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 930.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 933.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 936.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 939.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 942.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 945.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 948.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 951.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 954.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 957.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 960.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 963.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 963.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 963.7411377274354, + -261.08019517940437, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 965.2411377274354, + -258.48211896805105, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 966.7411377274354, + -255.88404275669774, + -0.8667209995073426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 968.2411377274354, + -253.28596654534442, + -0.8667209995073426 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-29-47_1411154259/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-29-47_1411154259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af86f02eecb25a1c98f3c1fd1d9683753b4394d3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-29-47_1411154259/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 240.15207125757468, + -233.89971122579033, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 241.65207125757468, + -236.49778743714364, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 243.15207125757468, + -239.09586364849696, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 244.65207125757468, + -241.69393985985027, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 246.15207125757468, + -244.2920160712036, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 247.65207125757468, + -246.8900922825569, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 249.15207125757468, + -249.48816849391022, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 250.65207125757468, + -252.08624470526354, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 252.15207125757468, + -254.68432091661685, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 253.65207125757468, + -257.28239712797017, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 255.15207125757468, + -259.8804733393235, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 256.6520712575747, + -262.4785495506768, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 258.1520712575747, + -265.0766257620301, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 259.6520712575747, + -267.67470197338343, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.1520712575747, + -270.27277818473675, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 262.6520712575747, + -272.87085439609007, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 264.1520712575747, + -275.4689306074434, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 265.6520712575747, + -278.0670068187967, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 267.1520712575747, + -280.66508303015, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 268.6520712575747, + -283.26315924150333, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 270.1520712575747, + -285.86123545285665, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 271.6520712575747, + -288.45931166420996, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 273.1520712575747, + -291.0573878755633, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 274.6520712575747, + -293.6554640869166, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 276.1520712575747, + -296.2535402982699, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 277.6520712575747, + -298.8516165096232, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 279.1520712575747, + -301.44969272097654, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 280.6520712575747, + -304.04776893232986, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 282.1520712575747, + -306.6458451436832, + 0.6159781730021425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 282.1520712575747, + -306.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 282.1520712575747, + -309.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 282.1520712575747, + -312.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 282.1520712575747, + -315.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 282.1520712575747, + -318.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 282.1520712575747, + -321.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 282.1520712575747, + -324.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 282.1520712575747, + -327.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 282.1520712575747, + -330.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 282.1520712575747, + -333.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 282.1520712575747, + -336.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 282.1520712575747, + -339.6458451436832, + 0.6159781730021425 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 282.1520712575747, + -339.6458451436832, + 0.6159781730021425 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 282.1520712575747, + -339.6458451436832, + 0.6159781730021425 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 282.1520712575747, + -339.6458451436832, + 0.6159781730021425 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 282.1520712575747, + -339.6458451436832, + 0.6159781730021425 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 282.1520712575747, + -339.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 284.750147468928, + -338.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 287.3482236802813, + -336.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 289.9462998916346, + -335.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 292.54437610298794, + -333.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 295.14245231434126, + -332.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 297.7405285256946, + -330.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 300.3386047370479, + -329.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 302.9366809484012, + -327.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 305.5347571597545, + -326.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 308.13283337110784, + -324.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 310.73090958246115, + -323.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 313.32898579381447, + -321.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 315.9270620051678, + -320.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 318.5251382165211, + -318.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 321.1232144278744, + -317.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 323.72129063922773, + -315.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 326.31936685058105, + -314.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 328.91744306193436, + -312.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 331.5155192732877, + -311.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 334.113595484641, + -309.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 336.7116716959943, + -308.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 339.3097479073476, + -306.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 341.90782411870094, + -305.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 344.50590033005426, + -303.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 347.1039765414076, + -302.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 349.7020527527609, + -300.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 352.3001289641142, + -299.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 354.8982051754675, + -297.6458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 357.49628138682084, + -296.1458451436832, + 0.6159781730021425 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 357.49628138682084, + -296.1458451436832, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 358.99628138682084, + -293.54776893232986, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 360.49628138682084, + -290.94969272097654, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 361.99628138682084, + -288.3516165096232, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 363.49628138682084, + -285.7535402982699, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 364.99628138682084, + -283.1554640869166, + 0.6159781730021425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 366.49628138682084, + -280.5573878755633, + 0.6159781730021425 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-31-7_282828202/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-31-7_282828202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b902c2cd0a400e17263c6c2b423f66a2e49dba04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-31-7_282828202/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -49.47106300271305, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -46.47106300271305, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -43.47106300271305, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -40.47106300271305, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -37.47106300271305, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -34.47106300271305, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -31.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -28.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -25.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -22.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -19.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -16.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -13.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -10.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -7.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -4.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1.471063002713052, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 7.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 10.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 13.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 16.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 19.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 22.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 25.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 28.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 31.528936997286948, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 34.52893699728695, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 37.52893699728695, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 40.52893699728695, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 43.52893699728695, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 43.52893699728695, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 43.52893699728695, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 45.02893699728695, + 132.21757487214546, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 46.52893699728695, + 134.81565108349878, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 48.02893699728695, + 137.4137272948521, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 49.52893699728695, + 140.0118035062054, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 51.02893699728695, + 142.60987971755873, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 52.52893699728695, + 145.20795592891204, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 54.02893699728695, + 147.80603214026536, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 55.52893699728695, + 150.40410835161867, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 57.02893699728695, + 153.002184562972, + -2.0778602962166914 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 57.02893699728695, + 153.002184562972, + -2.0778602962166914 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 57.02893699728695, + 153.002184562972, + -2.0778602962166914 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 57.02893699728695, + 153.002184562972, + -2.0778602962166914 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 57.02893699728695, + 153.002184562972, + -2.0778602962166914 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 57.02893699728695, + 153.002184562972, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 58.52893699728695, + 150.40410835161867, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 60.02893699728695, + 147.80603214026536, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 61.52893699728695, + 145.20795592891204, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 63.02893699728695, + 142.60987971755873, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 64.52893699728695, + 140.0118035062054, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 66.02893699728695, + 137.4137272948521, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 67.52893699728695, + 134.81565108349878, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 69.02893699728695, + 132.21757487214546, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 70.52893699728695, + 129.61949866079215, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 72.02893699728695, + 127.02142244943883, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 73.52893699728695, + 124.42334623808551, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 75.02893699728695, + 121.8252700267322, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 76.52893699728695, + 119.22719381537888, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 78.02893699728695, + 116.62911760402557, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 79.52893699728695, + 114.03104139267225, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 81.02893699728695, + 111.43296518131893, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 82.52893699728695, + 108.83488896996562, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 84.02893699728695, + 106.2368127586123, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 85.52893699728695, + 103.63873654725899, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 87.02893699728695, + 101.04066033590567, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 88.52893699728695, + 98.44258412455235, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 90.02893699728695, + 95.84450791319904, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 91.52893699728695, + 93.24643170184572, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 93.02893699728695, + 90.6483554904924, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 94.52893699728695, + 88.05027927913909, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 96.02893699728695, + 85.45220306778577, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 97.52893699728695, + 82.85412685643246, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 99.02893699728695, + 80.25605064507914, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 100.52893699728695, + 77.65797443372583, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 102.02893699728695, + 75.05989822237251, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 103.52893699728695, + 72.4618220110192, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 105.02893699728695, + 69.86374579966588, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 106.52893699728695, + 67.26566958831256, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 108.02893699728695, + 64.66759337695925, + -2.0778602962166914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 109.52893699728695, + 62.06951716560593, + -2.0778602962166914 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-33-40_1676902021/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-33-40_1676902021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40d4e7c86e512552dcc0fcc6e593e4b284ef9c5a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-33-40_1676902021/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 363.4620354635739, + -27.120398134417698, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 360.8639592522206, + -28.620398134417698, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 358.26588304086727, + -30.120398134417698, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 355.66780682951395, + -31.620398134417698, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 353.06973061816063, + -33.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 350.4716544068073, + -34.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 347.873578195454, + -36.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 345.2755019841007, + -37.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 342.67742577274737, + -39.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 340.07934956139405, + -40.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 337.48127335004074, + -42.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 334.8831971386874, + -43.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 332.2851209273341, + -45.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 329.6870447159808, + -46.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 327.0889685046275, + -48.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 324.49089229327416, + -49.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 321.89281608192084, + -51.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 319.2947398705675, + -52.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 316.6966636592142, + -54.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 314.0985874478609, + -55.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 311.5005112365076, + -57.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 308.90243502515426, + -58.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 306.30435881380095, + -60.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 303.70628260244763, + -61.6203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 301.1082063910943, + -63.1203981344177, + 2.778283201998101 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 301.1082063910943, + -63.1203981344177, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 299.6082063910943, + -65.71847434577101, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.1082063910943, + -68.31655055712433, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 296.6082063910943, + -70.91462676847765, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 295.1082063910943, + -73.51270297983096, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 293.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 293.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 293.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 293.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 296.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 299.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 302.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 305.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 308.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 311.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 314.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 317.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 320.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 323.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 323.6082063910943, + -76.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 326.20628260244763, + -77.61077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 328.80435881380095, + -79.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 331.40243502515426, + -80.61077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 334.0005112365076, + -82.11077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 336.5985874478609, + -83.61077919118428, + 2.778283201998101 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 339.1966636592142, + -85.11077919118428, + 2.778283201998101 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-33-6_982936784/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-33-6_982936784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e371993ceb395f3ae555730fbd6586acf470e02d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-33-6_982936784/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.50780626519534, + -314.05179672514254, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -111.00780626519534, + -311.4537205137892, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -112.50780626519534, + -308.8556443024359, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -114.00780626519534, + -306.2575680910826, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -115.50780626519534, + -303.6594918797293, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -117.00780626519534, + -301.06141566837596, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -118.50780626519534, + -298.46333945702264, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -120.00780626519534, + -295.8652632456693, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -121.50780626519534, + -293.267187034316, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.00780626519534, + -290.6691108229627, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -124.50780626519534, + -288.0710346116094, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -126.00780626519534, + -285.47295840025606, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -127.50780626519534, + -282.87488218890275, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -129.00780626519534, + -280.27680597754943, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -130.50780626519534, + -277.6787297661961, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -132.00780626519534, + -275.0806535548428, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -133.50780626519534, + -272.4825773434895, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -135.00780626519534, + -269.88450113213617, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -136.50780626519534, + -267.28642492078285, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.00780626519534, + -264.68834870942953, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -139.50780626519534, + -262.0902724980762, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -141.00780626519534, + -259.4921962867229, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -142.50780626519534, + -256.8941200753696, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -144.00780626519534, + -254.29604386401627, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -145.50780626519534, + -251.69796765266295, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -147.00780626519534, + -249.09989144130964, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -148.50780626519534, + -246.50181522995632, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -150.00780626519534, + -243.903739018603, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -151.50780626519534, + -241.3056628072497, + 4.664752431837183 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -151.50780626519534, + -241.3056628072497, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.50780626519534, + -238.3056628072497, + 4.664752431837183 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -151.50780626519534, + -238.3056628072497, + 4.664752431837183 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -151.50780626519534, + -238.3056628072497, + 4.664752431837183 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -151.50780626519534, + -238.3056628072497, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -148.90973005384203, + -236.8056628072497, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -146.3116538424887, + -235.3056628072497, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -143.7135776311354, + -233.8056628072497, + 4.664752431837183 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -143.7135776311354, + -233.8056628072497, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -142.2135776311354, + -231.20758659589637, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -140.7135776311354, + -228.60951038454306, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -139.2135776311354, + -226.01143417318974, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -137.7135776311354, + -223.41335796183643, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -136.2135776311354, + -220.8152817504831, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -134.7135776311354, + -218.2172055391298, + 4.664752431837183 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -134.7135776311354, + -218.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -134.7135776311354, + -215.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -134.7135776311354, + -212.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -134.7135776311354, + -209.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -134.7135776311354, + -206.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -134.7135776311354, + -203.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -134.7135776311354, + -200.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -134.7135776311354, + -197.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -134.7135776311354, + -194.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -134.7135776311354, + -191.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -134.7135776311354, + -188.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -134.7135776311354, + -185.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -134.7135776311354, + -182.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -134.7135776311354, + -179.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -134.7135776311354, + -176.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -134.7135776311354, + -173.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -134.7135776311354, + -170.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -134.7135776311354, + -167.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -134.7135776311354, + -164.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -134.7135776311354, + -161.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -134.7135776311354, + -158.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -134.7135776311354, + -155.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -134.7135776311354, + -152.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -134.7135776311354, + -149.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -134.7135776311354, + -146.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -134.7135776311354, + -143.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -134.7135776311354, + -140.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -134.7135776311354, + -137.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -134.7135776311354, + -134.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -134.7135776311354, + -131.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -134.7135776311354, + -128.2172055391298, + 4.664752431837183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -134.7135776311354, + -125.2172055391298, + 4.664752431837183 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-34-10_1486222842/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-34-10_1486222842/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c023aee72cfdd77af0ded4263e9e9a705738010 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-34-10_1486222842/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1476.970341786922, + -122.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1474.3722655755687, + -120.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1471.7741893642153, + -119.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1469.176113152862, + -117.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1466.5780369415086, + -116.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1463.9799607301552, + -114.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1461.3818845188018, + -113.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1458.7838083074485, + -111.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1456.185732096095, + -110.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1453.5876558847417, + -108.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1450.9895796733883, + -107.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1448.391503462035, + -105.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1445.7934272506816, + -104.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1443.1953510393282, + -102.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1440.5972748279748, + -101.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1437.9991986166215, + -99.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1435.401122405268, + -98.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1432.8030461939147, + -96.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1430.2049699825614, + -95.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1427.606893771208, + -93.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1425.0088175598546, + -92.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1422.4107413485012, + -90.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1419.8126651371479, + -89.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1417.2145889257945, + -87.74717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1414.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1414.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1411.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1408.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1405.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1402.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1402.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1402.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1402.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1402.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1402.6165127144411, + -86.24717384085449, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1404.1165127144411, + -83.64909762950117, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1405.6165127144411, + -81.05102141814785, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1407.1165127144411, + -78.45294520679454, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1408.6165127144411, + -75.85486899544122, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1410.1165127144411, + -73.2567927840879, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1411.6165127144411, + -70.65871657273459, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1413.1165127144411, + -68.06064036138127, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1414.6165127144411, + -65.46256415002796, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1416.1165127144411, + -62.86448793867464, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1417.6165127144411, + -60.266411727321326, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1419.1165127144411, + -57.66833551596801, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1420.6165127144411, + -55.070259304614694, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1422.1165127144411, + -52.47218309326138, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1423.6165127144411, + -49.87410688190806, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1425.1165127144411, + -47.276030670554746, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1426.6165127144411, + -44.67795445920143, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1428.1165127144411, + -42.079878247848114, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1429.6165127144411, + -39.4818020364948, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1431.1165127144411, + -36.88372582514148, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1432.6165127144411, + -34.285649613788166, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1434.1165127144411, + -31.68757340243485, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1435.6165127144411, + -29.089497191081534, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1437.1165127144411, + -26.49142097972822, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1438.6165127144411, + -23.893344768374902, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1440.1165127144411, + -21.295268557021586, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1441.6165127144411, + -18.69719234566827, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1443.1165127144411, + -16.099116134314954, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1444.6165127144411, + -13.501039922961638, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1446.1165127144411, + -10.902963711608322, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1447.6165127144411, + -8.304887500255006, + 4.257228445266531 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1447.6165127144411, + -8.304887500255006, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1447.6165127144411, + -5.304887500255006, + 4.257228445266531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1447.6165127144411, + -2.304887500255006, + 4.257228445266531 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-35-23_255789528/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-35-23_255789528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c04569acdcb3b3d462e17dbc42543d942623c89a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-35-23_255789528/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -358.3042656725443, + -136.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -355.706189461191, + -137.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -353.1081132498377, + -139.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -350.51003703848437, + -140.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -347.91196082713105, + -142.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -345.31388461577774, + -143.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -342.7158084044244, + -145.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -340.1177321930711, + -146.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -337.5196559817178, + -148.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -334.9215797703645, + -149.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -332.32350355901116, + -151.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -329.72542734765784, + -152.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -327.1273511363045, + -154.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -324.5292749249512, + -155.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -321.9311987135979, + -157.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -319.3331225022446, + -158.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -316.73504629089126, + -160.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -314.13697007953795, + -161.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -311.53889386818463, + -163.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -308.9408176568313, + -164.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -306.342741445478, + -166.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -303.7446652341247, + -167.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -301.14658902277137, + -169.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -298.54851281141805, + -170.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -295.95043660006473, + -172.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -293.3523603887114, + -173.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -290.7542841773581, + -175.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -288.1562079660048, + -176.5168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -285.55813175465147, + -178.0168062580841, + -0.0569804558557605 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -285.55813175465147, + -178.0168062580841, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -284.05813175465147, + -180.61488246943742, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -282.55813175465147, + -183.21295868079073, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -281.05813175465147, + -185.81103489214405, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -279.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -279.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -279.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -279.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -276.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -273.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -270.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -267.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -264.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -261.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -258.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -255.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -255.55813175465147, + -188.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -252.96005554329815, + -186.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -250.36197933194484, + -185.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -247.76390312059152, + -183.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -245.1658269092382, + -182.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -242.5677506978849, + -180.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -239.96967448653157, + -179.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -237.37159827517826, + -177.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -234.77352206382494, + -176.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -232.17544585247163, + -174.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -229.5773696411183, + -173.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -226.979293429765, + -171.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -224.38121721841168, + -170.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -221.78314100705836, + -168.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -219.18506479570505, + -167.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -216.58698858435173, + -165.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -213.9889123729984, + -164.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -211.3908361616451, + -162.90911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -208.79275995029178, + -161.40911110349737, + -0.0569804558557605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -206.19468373893847, + -159.90911110349737, + -0.0569804558557605 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-37-43_1137949908/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-37-43_1137949908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf3bc26df7406e0ebb4f849476cc760d2eb17fe0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-37-43_1137949908/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1316.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1319.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1322.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1325.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1328.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1331.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1334.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1337.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1340.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1343.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1346.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1349.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1352.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1355.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1358.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1361.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1364.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1367.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1370.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1373.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1376.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1379.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1382.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1385.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1388.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1388.2133900131312, + -66.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1390.8114662244845, + -67.90304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1393.409542435838, + -69.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1396.0076186471913, + -70.90304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1398.6056948585447, + -72.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1401.203771069898, + -73.90304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1403.8018472812514, + -75.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1406.3999234926048, + -76.90304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1408.9979997039582, + -78.40304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1411.5960759153115, + -79.90304379475765, + 1.5825210515914936 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1411.5960759153115, + -79.90304379475765, + 1.5825210515914936 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1411.5960759153115, + -79.90304379475765, + 1.5825210515914936 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1411.5960759153115, + -79.90304379475765, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1413.0960759153115, + -77.30496758340433, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1414.5960759153115, + -74.70689137205102, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1416.0960759153115, + -72.1088151606977, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1417.5960759153115, + -69.51073894934439, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1419.0960759153115, + -66.91266273799107, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1420.5960759153115, + -64.31458652663775, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1422.0960759153115, + -61.71651031528444, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1423.5960759153115, + -59.11843410393112, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1425.0960759153115, + -56.520357892577806, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1426.5960759153115, + -53.92228168122449, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1428.0960759153115, + -51.324205469871174, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1429.5960759153115, + -48.72612925851786, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1431.0960759153115, + -46.12805304716454, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1432.5960759153115, + -43.529976835811226, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1434.0960759153115, + -40.93190062445791, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1435.5960759153115, + -38.333824413104594, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1437.0960759153115, + -35.73574820175128, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1438.5960759153115, + -33.13767199039796, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1440.0960759153115, + -30.539595779044646, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1441.5960759153115, + -27.94151956769133, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1443.0960759153115, + -25.343443356338014, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1444.5960759153115, + -22.745367144984698, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1446.0960759153115, + -20.147290933631382, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1447.5960759153115, + -17.549214722278066, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1449.0960759153115, + -14.95113851092475, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1450.5960759153115, + -12.353062299571434, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1452.0960759153115, + -9.754986088218118, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1453.5960759153115, + -7.156909876864802, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1455.0960759153115, + -4.558833665511486, + 1.5825210515914936 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1455.0960759153115, + -4.558833665511486, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1457.694152126665, + -3.058833665511486, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1460.2922283380183, + -1.558833665511486, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1462.8903045493716, + -0.05883366551148628, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1465.488380760725, + 1.4411663344885135, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1468.0864569720784, + 2.9411663344885133, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1470.6845331834318, + 4.441166334488513, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1473.2826093947851, + 5.941166334488513, + 1.5825210515914936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1475.8806856061385, + 7.441166334488513, + 1.5825210515914936 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-38-17_1277849958/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-38-17_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23b04a83e7ed23664acba6fd47d149475c679969 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-38-17_1277849958/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 75.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 78.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 87.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 90.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 93.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 96.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 108.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 111.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 114.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 117.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 120.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 123.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 126.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 129.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 132.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 135.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 138.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 141.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 144.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 144.26295184522436, + -250.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 146.86102805657768, + -252.45479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 149.459104267931, + -253.95479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 152.0571804792843, + -255.45479739708497, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 154.65525669063763, + -256.954797397085, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 157.25333290199094, + -258.454797397085, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 159.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 159.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 159.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 162.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 165.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 168.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 171.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 171.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 171.85140911334426, + -259.954797397085, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 173.35140911334426, + -257.35672118573166, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 174.85140911334426, + -254.75864497437834, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 176.35140911334426, + -252.16056876302503, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 177.85140911334426, + -249.5624925516717, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 179.35140911334426, + -246.9644163403184, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 180.85140911334426, + -244.36634012896508, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 182.35140911334426, + -241.76826391761176, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 183.85140911334426, + -239.17018770625845, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 185.35140911334426, + -236.57211149490513, + 3.452116852231276 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 185.35140911334426, + -236.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 187.94948532469758, + -235.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 190.5475615360509, + -233.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 193.1456377474042, + -232.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 195.74371395875752, + -230.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 198.34179017011084, + -229.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 200.93986638146416, + -227.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 203.53794259281747, + -226.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 206.1360188041708, + -224.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 208.7340950155241, + -223.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 211.33217122687742, + -221.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 213.93024743823074, + -220.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 216.52832364958405, + -218.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 219.12639986093737, + -217.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 221.72447607229068, + -215.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 224.322552283644, + -214.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 226.92062849499732, + -212.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 229.51870470635063, + -211.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 232.11678091770395, + -209.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 234.71485712905726, + -208.07211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 237.31293334041058, + -206.57211149490513, + 3.452116852231276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 239.9110095517639, + -205.07211149490513, + 3.452116852231276 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-39-29_653448036/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-39-29_653448036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6a5e66bbcecd74a36e0a570265025314922c87e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-39-29_653448036/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 945.4884137869549, + -483.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 945.4884137869549, + -480.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 945.4884137869549, + -477.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 945.4884137869549, + -474.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 945.4884137869549, + -471.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 945.4884137869549, + -468.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 945.4884137869549, + -465.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 945.4884137869549, + -462.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 945.4884137869549, + -459.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 945.4884137869549, + -456.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 945.4884137869549, + -453.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 945.4884137869549, + -450.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 945.4884137869549, + -447.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 945.4884137869549, + -444.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 945.4884137869549, + -441.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 945.4884137869549, + -438.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 945.4884137869549, + -435.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 945.4884137869549, + -432.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 945.4884137869549, + -429.32744616823743, + -0.621681053506264 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 945.4884137869549, + -429.32744616823743, + -0.621681053506264 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 945.4884137869549, + -429.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 942.8903375756015, + -427.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 940.2922613642481, + -426.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 937.6941851528948, + -424.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 935.0961089415414, + -423.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 932.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 932.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 929.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 926.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 923.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 920.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 917.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 914.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 911.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 908.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 905.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 902.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 899.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 896.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 893.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 890.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 887.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 884.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 881.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 878.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 875.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 872.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 869.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 866.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 863.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 860.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 857.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 854.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 854.498032730188, + -421.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 851.8999565188346, + -420.32744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 849.3018803074813, + -418.82744616823743, + -0.621681053506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 846.7038040961279, + -417.32744616823743, + -0.621681053506264 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-39-57_1908518808/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-39-57_1908518808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d45dfe9f56f8adb3b15851c8250326c7c82e32a8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-39-57_1908518808/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -312.3425047904399, + -296.2004989558311, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -310.8425047904399, + -293.6024227444778, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -309.3425047904399, + -291.0043465331245, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -307.8425047904399, + -288.40627032177116, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -306.3425047904399, + -285.80819411041784, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -304.8425047904399, + -283.2101178990645, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -303.3425047904399, + -280.6120416877112, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -301.8425047904399, + -278.0139654763579, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -300.3425047904399, + -275.4158892650046, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -298.8425047904399, + -272.81781305365126, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -297.3425047904399, + -270.21973684229795, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -295.8425047904399, + -267.62166063094463, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -294.3425047904399, + -265.0235844195913, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -292.8425047904399, + -262.425508208238, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -291.3425047904399, + -259.8274319968847, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -289.8425047904399, + -257.22935578553137, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -288.3425047904399, + -254.63127957417805, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -286.8425047904399, + -252.03320336282474, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -285.3425047904399, + -249.43512715147142, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -283.8425047904399, + -246.8370509401181, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -282.3425047904399, + -244.2389747287648, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -280.8425047904399, + -241.64089851741147, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -279.3425047904399, + -239.04282230605816, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -277.8425047904399, + -236.44474609470484, + -0.051769250562553104 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -277.8425047904399, + -236.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -277.8425047904399, + -233.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -277.8425047904399, + -230.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -277.8425047904399, + -227.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -277.8425047904399, + -224.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -277.8425047904399, + -221.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -277.8425047904399, + -218.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -277.8425047904399, + -215.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -277.8425047904399, + -212.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -277.8425047904399, + -209.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -277.8425047904399, + -206.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -277.8425047904399, + -203.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -277.8425047904399, + -200.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -277.8425047904399, + -197.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -277.8425047904399, + -194.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -277.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -277.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -277.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -277.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -277.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -274.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -271.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -268.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -265.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -265.8425047904399, + -191.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -263.24442857908656, + -189.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -260.64635236773324, + -188.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -258.0482761563799, + -186.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -255.4501999450266, + -185.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -252.8521237336733, + -183.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -250.25404752231998, + -182.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -247.65597131096666, + -180.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -245.05789509961335, + -179.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -242.45981888826003, + -177.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -239.86174267690672, + -176.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -237.2636664655534, + -174.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -234.66559025420008, + -173.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -232.06751404284677, + -171.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -229.46943783149345, + -170.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -226.87136162014014, + -168.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -224.27328540878682, + -167.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -221.6752091974335, + -165.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -219.0771329860802, + -164.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -216.47905677472687, + -162.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -213.88098056337356, + -161.44474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -211.28290435202024, + -159.94474609470484, + -0.051769250562553104 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -211.28290435202024, + -159.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -208.28290435202024, + -159.94474609470484, + -0.051769250562553104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -205.28290435202024, + -159.94474609470484, + -0.051769250562553104 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-41-15_364686248/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-41-15_364686248/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e693a969db02082549e83de51e970818dda44cce --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-41-15_364686248/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 536.2083146359921, + -300.37645142385713, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 534.7083146359921, + -302.97452763521045, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 533.2083146359921, + -305.57260384656377, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 531.7083146359921, + -308.1706800579171, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 530.2083146359921, + -310.7687562692704, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 528.7083146359921, + -313.3668324806237, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 527.2083146359921, + -315.96490869197703, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 525.7083146359921, + -318.56298490333035, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 524.2083146359921, + -321.16106111468366, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 522.7083146359921, + -323.759137326037, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 521.2083146359921, + -326.3572135373903, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 519.7083146359921, + -328.9552897487436, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 518.2083146359921, + -331.5533659600969, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 516.7083146359921, + -334.15144217145024, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 515.2083146359921, + -336.74951838280356, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 513.7083146359921, + -339.3475945941569, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 512.2083146359921, + -341.9456708055102, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 510.7083146359921, + -344.5437470168635, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 509.2083146359921, + -347.1418232282168, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 507.7083146359921, + -349.73989943957014, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 506.2083146359921, + -352.33797565092345, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 504.7083146359921, + -354.93605186227677, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 503.2083146359921, + -357.5341280736301, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 501.7083146359921, + -360.1322042849834, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 500.2083146359921, + -362.7302804963367, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 498.7083146359921, + -365.32835670769003, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 497.2083146359921, + -367.92643291904335, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 495.7083146359921, + -370.52450913039667, + 3.7713542525012294 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 495.7083146359921, + -370.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 495.7083146359921, + -373.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 495.7083146359921, + -376.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 495.7083146359921, + -379.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 495.7083146359921, + -382.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 495.7083146359921, + -385.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 495.7083146359921, + -388.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 495.7083146359921, + -391.52450913039667, + 3.7713542525012294 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 495.7083146359921, + -391.52450913039667, + 3.7713542525012294 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 495.7083146359921, + -391.52450913039667, + 3.7713542525012294 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 495.7083146359921, + -391.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 493.1102384246388, + -393.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 490.5121622132855, + -394.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 487.91408600193216, + -396.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 485.31600979057885, + -397.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 482.71793357922553, + -399.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 480.1198573678722, + -400.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 477.5217811565189, + -402.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 474.9237049451656, + -403.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 472.32562873381227, + -405.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 469.72755252245895, + -406.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 467.12947631110563, + -408.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 464.5314000997523, + -409.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 461.933323888399, + -411.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 459.3352476770457, + -412.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 456.73717146569237, + -414.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 454.13909525433905, + -415.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 451.54101904298574, + -417.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 448.9429428316324, + -418.52450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 446.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 446.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 443.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 440.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 437.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 434.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 431.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 428.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 425.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 422.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 419.3448666202791, + -420.02450913039667, + 3.7713542525012294 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-41-47_1309383303/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-41-47_1309383303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcf081a428123a9858464d0ec84392db30b6c883 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-41-47_1309383303/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 448.6386846079848, + -124.3977646749498, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 450.1386846079848, + -126.99584088630311, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 451.6386846079848, + -129.59391709765643, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 453.1386846079848, + -132.19199330900975, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 454.6386846079848, + -134.79006952036306, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 456.1386846079848, + -137.38814573171638, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 457.6386846079848, + -139.9862219430697, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 459.1386846079848, + -142.584298154423, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 460.6386846079848, + -145.18237436577633, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 462.1386846079848, + -147.78045057712964, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 463.6386846079848, + -150.37852678848296, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 465.1386846079848, + -152.97660299983627, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 466.6386846079848, + -155.5746792111896, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 468.1386846079848, + -158.1727554225429, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 469.6386846079848, + -160.77083163389622, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 471.1386846079848, + -163.36890784524954, + -1.5660646029335137 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 471.1386846079848, + -163.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 471.1386846079848, + -166.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 471.1386846079848, + -169.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 471.1386846079848, + -172.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 471.1386846079848, + -175.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 471.1386846079848, + -178.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 471.1386846079848, + -181.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 471.1386846079848, + -184.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 471.1386846079848, + -187.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.1386846079848, + -190.36890784524954, + -1.5660646029335137 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 471.1386846079848, + -190.36890784524954, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 469.6386846079848, + -192.96698405660285, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 468.1386846079848, + -195.56506026795617, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 466.6386846079848, + -198.1631364793095, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 465.1386846079848, + -200.7612126906628, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 463.6386846079848, + -203.35928890201612, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 462.1386846079848, + -205.95736511336943, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 460.6386846079848, + -208.55544132472275, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 459.1386846079848, + -211.15351753607607, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 457.6386846079848, + -213.75159374742938, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 456.1386846079848, + -216.3496699587827, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 454.6386846079848, + -218.947746170136, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 453.1386846079848, + -221.54582238148933, + -1.5660646029335137 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 453.1386846079848, + -221.54582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 450.5406083966315, + -223.04582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 447.9425321852782, + -224.54582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 445.3444559739249, + -226.04582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 442.74637976257156, + -227.54582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 440.14830355121825, + -229.04582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 437.55022733986493, + -230.54582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 434.9521511285116, + -232.04582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 432.3540749171583, + -233.54582238148933, + -1.5660646029335137 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 432.3540749171583, + -233.54582238148933, + -1.5660646029335137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 430.8540749171583, + -236.14389859284265, + -1.5660646029335137 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-42-12_1129033333/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-42-12_1129033333/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48d119c374639a97ea32293609ea7a92e957c6b8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-42-12_1129033333/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -165.92628223033935, + -759.713404378274, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -164.42628223033935, + -757.1153281669208, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -162.92628223033935, + -754.5172519555674, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -161.42628223033935, + -751.919175744214, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.92628223033935, + -749.3210995328607, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -158.42628223033935, + -746.7230233215073, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.92628223033935, + -744.1249471101539, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -155.42628223033935, + -741.5268708988006, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -153.92628223033935, + -738.9287946874472, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -152.42628223033935, + -736.3307184760938, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -150.92628223033935, + -733.7326422647404, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -149.42628223033935, + -731.1345660533871, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -147.92628223033935, + -728.5364898420337, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -146.42628223033935, + -725.9384136306803, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -144.92628223033935, + -723.3403374193269, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -143.42628223033935, + -720.7422612079736, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.92628223033935, + -718.1441849966202, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -140.42628223033935, + -715.5461087852668, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -138.92628223033935, + -712.9480325739135, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -137.42628223033935, + -710.3499563625601, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.92628223033935, + -707.7518801512067, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -134.42628223033935, + -705.1538039398533, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -132.92628223033935, + -702.5557277285, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.42628223033935, + -699.9576515171466, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -129.92628223033935, + -697.3595753057932, + 4.73468841337141 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -129.92628223033935, + -697.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -129.92628223033935, + -694.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -129.92628223033935, + -691.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -129.92628223033935, + -688.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -129.92628223033935, + -685.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -129.92628223033935, + -682.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -129.92628223033935, + -679.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -129.92628223033935, + -676.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -129.92628223033935, + -673.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -129.92628223033935, + -670.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -129.92628223033935, + -667.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.92628223033935, + -664.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -129.92628223033935, + -661.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.92628223033935, + -658.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -129.92628223033935, + -655.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -129.92628223033935, + -652.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -129.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -129.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -129.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -129.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -129.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -126.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -123.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -120.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -117.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -117.92628223033935, + -649.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -115.32820601898604, + -647.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -112.73012980763272, + -646.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -110.1320535962794, + -644.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -107.53397738492609, + -643.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -104.93590117357277, + -641.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -102.33782496221946, + -640.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -99.73974875086614, + -638.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -97.14167253951283, + -637.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -94.54359632815951, + -635.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -91.9455201168062, + -634.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -89.34744390545288, + -632.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -86.74936769409956, + -631.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -84.15129148274625, + -629.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -81.55321527139293, + -628.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -78.95513906003961, + -626.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -76.3570628486863, + -625.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -73.75898663733298, + -623.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -71.16091042597967, + -622.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -68.56283421462635, + -620.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -65.96475800327303, + -619.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -63.36668179191972, + -617.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -60.7686055805664, + -616.3595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -58.170529369213085, + -614.8595753057932, + 4.73468841337141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -55.57245315785977, + -613.3595753057932, + 4.73468841337141 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-44-32_1781999754/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-44-32_1781999754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2bc555a3234364602b7a0211ac7bf73db2a685e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-44-32_1781999754/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -305.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -302.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -299.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -296.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -293.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -290.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -287.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -287.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -287.34626127946206, + -386.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -285.84626127946206, + -389.4282479702125, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -284.34626127946206, + -392.0263241815658, + -4.534049201785411 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.34626127946206, + -392.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -281.74818506810874, + -393.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -279.1501088567554, + -395.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -276.5520326454021, + -396.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -273.9539564340488, + -398.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -271.3558802226955, + -399.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -268.75780401134216, + -401.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -266.15972779998884, + -402.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -263.5616515886355, + -404.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -260.9635753772822, + -405.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -258.3654991659289, + -407.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -255.76742295457558, + -408.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -253.16934674322226, + -410.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -250.57127053186895, + -411.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -247.97319432051563, + -413.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -245.37511810916232, + -414.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -242.777041897809, + -416.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -240.17896568645568, + -417.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -237.58088947510237, + -419.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -234.98281326374905, + -420.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -232.38473705239574, + -422.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -229.78666084104242, + -423.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -227.1885846296891, + -425.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -224.5905084183358, + -426.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -221.99243220698247, + -428.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -219.39435599562916, + -429.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -216.79627978427584, + -431.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -214.19820357292252, + -432.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -211.6001273615692, + -434.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -209.0020511502159, + -435.5263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -206.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -206.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -206.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -203.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -200.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -197.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -194.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -194.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -194.40397493886258, + -437.0263241815658, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -192.90397493886258, + -434.4282479702125, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -191.40397493886258, + -431.8301717588592, + -4.534049201785411 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -191.40397493886258, + -431.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -188.80589872750926, + -430.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -186.20782251615594, + -428.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -183.60974630480263, + -427.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -181.0116700934493, + -425.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -178.413593882096, + -424.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -175.81551767074268, + -422.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -173.21744145938936, + -421.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -170.61936524803605, + -419.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -168.02128903668273, + -418.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -165.42321282532941, + -416.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -162.8251366139761, + -415.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -160.22706040262278, + -413.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -157.62898419126947, + -412.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -155.03090797991615, + -410.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -152.43283176856283, + -409.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -149.83475555720952, + -407.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -147.2366793458562, + -406.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -144.6386031345029, + -404.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -142.04052692314957, + -403.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -139.44245071179625, + -401.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -136.84437450044294, + -400.3301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -134.24629828908962, + -398.8301717588592, + -4.534049201785411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -131.6482220777363, + -397.3301717588592, + -4.534049201785411 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-45-43_212251746/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-45-43_212251746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5894bb686acf46d9344d234fd62a895c9b16dd1b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-45-43_212251746/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.5568090992857, + -563.118876203296, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.0568090992857, + -560.5207999919428, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.5568090992857, + -557.9227237805894, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 398.0568090992857, + -555.324647569236, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 399.5568090992857, + -552.7265713578827, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 401.0568090992857, + -550.1284951465293, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 402.5568090992857, + -547.5304189351759, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 404.0568090992857, + -544.9323427238226, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 405.5568090992857, + -542.3342665124692, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 407.0568090992857, + -539.7361903011158, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 408.5568090992857, + -537.1381140897624, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 410.0568090992857, + -534.5400378784091, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 411.5568090992857, + -531.9419616670557, + 0.765193093278115 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 411.5568090992857, + -531.9419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 414.15488531063903, + -530.4419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 416.75296152199235, + -528.9419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 419.35103773334566, + -527.4419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 421.949113944699, + -525.9419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 424.5471901560523, + -524.4419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 427.1452663674056, + -522.9419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 429.7433425787589, + -521.4419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 432.34141879011224, + -519.9419616670557, + 0.765193093278115 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 432.34141879011224, + -519.9419616670557, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 433.84141879011224, + -517.3438854557023, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 435.34141879011224, + -514.745809244349, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.84141879011224, + -512.1477330329956, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.34141879011224, + -509.54965682164226, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 439.84141879011224, + -506.95158061028894, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 441.34141879011224, + -504.3535043989356, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 442.84141879011224, + -501.7554281875823, + 0.765193093278115 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 442.84141879011224, + -501.7554281875823, + 0.765193093278115 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 442.84141879011224, + -501.7554281875823, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 441.34141879011224, + -499.157351976229, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 439.84141879011224, + -496.5592757648757, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 438.34141879011224, + -493.96119955352236, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 436.84141879011224, + -491.36312334216905, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 435.34141879011224, + -488.76504713081573, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 433.84141879011224, + -486.1669709194624, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 432.34141879011224, + -483.5688947081091, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 430.84141879011224, + -480.9708184967558, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 429.34141879011224, + -478.37274228540247, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 427.84141879011224, + -475.77466607404915, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 426.34141879011224, + -473.17658986269583, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 424.84141879011224, + -470.5785136513425, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 423.34141879011224, + -467.9804374399892, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 421.84141879011224, + -465.3823612286359, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 420.34141879011224, + -462.78428501728257, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 418.84141879011224, + -460.18620880592925, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 417.34141879011224, + -457.58813259457594, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 415.84141879011224, + -454.9900563832226, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 414.34141879011224, + -452.3919801718693, + 0.765193093278115 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 414.34141879011224, + -452.3919801718693, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 414.34141879011224, + -449.3919801718693, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 414.34141879011224, + -446.3919801718693, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 414.34141879011224, + -443.3919801718693, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 414.34141879011224, + -440.3919801718693, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 414.34141879011224, + -437.3919801718693, + 0.765193093278115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 414.34141879011224, + -434.3919801718693, + 0.765193093278115 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-45-9_150517567/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-45-9_150517567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..469ca681d8108410319010dec34bd7322020b969 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-45-9_150517567/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 366.3778169938412, + 156.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 368.9758932051945, + 157.9463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 371.5739694165478, + 159.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 374.1720456279011, + 160.9463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.77012183925444, + 162.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 379.36819805060776, + 163.9463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 381.9662742619611, + 165.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 384.5643504733144, + 166.9463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 387.1624266846677, + 168.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 389.760502896021, + 169.9463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 392.35857910737434, + 171.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 394.95665531872766, + 172.9463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 397.55473153008097, + 174.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 400.1528077414343, + 175.9463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 402.7508839527876, + 177.4463872420306, + 1.3465365509048581 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 402.7508839527876, + 177.4463872420306, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 404.2508839527876, + 180.0444634533839, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 405.7508839527876, + 182.64253966473723, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 407.2508839527876, + 185.24061587609054, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 408.7508839527876, + 187.83869208744386, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 410.2508839527876, + 190.43676829879718, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 411.7508839527876, + 193.0348445101505, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 413.2508839527876, + 195.6329207215038, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 414.7508839527876, + 198.23099693285712, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 416.2508839527876, + 200.82907314421044, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 417.7508839527876, + 203.42714935556376, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 419.2508839527876, + 206.02522556691707, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 420.7508839527876, + 208.6233017782704, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 422.2508839527876, + 211.2213779896237, + 1.3465365509048581 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 422.2508839527876, + 211.2213779896237, + 1.3465365509048581 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 422.2508839527876, + 211.2213779896237, + 1.3465365509048581 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 422.2508839527876, + 211.2213779896237, + 1.3465365509048581 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 422.2508839527876, + 211.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 419.6528077414343, + 212.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 417.05473153008097, + 214.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 414.45665531872766, + 215.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 411.85857910737434, + 217.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 409.260502896021, + 218.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 406.6624266846677, + 220.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 404.0643504733144, + 221.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 401.4662742619611, + 223.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 398.86819805060776, + 224.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 396.27012183925444, + 226.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 393.6720456279011, + 227.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 391.0739694165478, + 229.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 388.4758932051945, + 230.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 385.8778169938412, + 232.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 383.27974078248786, + 233.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 380.68166457113455, + 235.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 378.08358835978123, + 236.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 375.4855121484279, + 238.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 372.8874359370746, + 239.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 370.2893597257213, + 241.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 367.69128351436797, + 242.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 365.09320730301465, + 244.2213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 362.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 362.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 359.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 356.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 353.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 350.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 347.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 344.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 341.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 338.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 335.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 332.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 329.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 326.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 323.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 320.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 320.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 320.49513109166134, + 245.7213779896237, + 1.3465365509048581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 318.99513109166134, + 248.31945420097702, + 1.3465365509048581 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-47-53_484238046/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-47-53_484238046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8787492945e0030a9bf3d1c491f5b18c7e40da3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-47-53_484238046/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 67.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 70.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 73.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 76.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 79.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 82.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 85.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 97.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 100.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 103.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 106.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 109.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 112.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 115.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 118.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 121.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 124.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 127.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 130.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 133.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 136.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 136.39682049039266, + 64.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 138.99489670174597, + 66.06009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 141.5929729130993, + 67.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 144.1910491244526, + 69.06009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 146.78912533580592, + 70.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 149.38720154715924, + 72.06009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 151.98527775851255, + 73.56009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 154.58335396986587, + 75.06009996821425, + -4.774915812025416 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 154.58335396986587, + 75.06009996821425, + -4.774915812025416 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 154.58335396986587, + 75.06009996821425, + -4.774915812025416 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 154.58335396986587, + 75.06009996821425, + -4.774915812025416 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 154.58335396986587, + 75.06009996821425, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 153.08335396986587, + 77.65817617956756, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 151.58335396986587, + 80.25625239092088, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 150.08335396986587, + 82.8543286022742, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 148.58335396986587, + 85.45240481362751, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 147.08335396986587, + 88.05048102498083, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 145.58335396986587, + 90.64855723633414, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 144.08335396986587, + 93.24663344768746, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 142.58335396986587, + 95.84470965904077, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 141.08335396986587, + 98.44278587039409, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 139.58335396986587, + 101.0408620817474, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 138.08335396986587, + 103.63893829310072, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 136.58335396986587, + 106.23701450445404, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 135.08335396986587, + 108.83509071580735, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 133.58335396986587, + 111.43316692716067, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 132.08335396986587, + 114.03124313851399, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 130.58335396986587, + 116.6293193498673, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 129.08335396986587, + 119.22739556122062, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 127.58335396986587, + 121.82547177257393, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 126.08335396986587, + 124.42354798392725, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 124.58335396986587, + 127.02162419528057, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 123.08335396986587, + 129.61970040663388, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 121.58335396986587, + 132.2177766179872, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 120.08335396986587, + 134.8158528293405, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 118.58335396986587, + 137.41392904069383, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 117.08335396986587, + 140.01200525204715, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 115.58335396986587, + 142.61008146340046, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 114.08335396986587, + 145.20815767475378, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 112.58335396986587, + 147.8062338861071, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 111.08335396986587, + 150.4043100974604, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 109.58335396986587, + 153.00238630881373, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 108.08335396986587, + 155.60046252016704, + -4.774915812025416 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 108.08335396986587, + 155.60046252016704, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 108.08335396986587, + 158.60046252016704, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 108.08335396986587, + 161.60046252016704, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 108.08335396986587, + 164.60046252016704, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 108.08335396986587, + 167.60046252016704, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 108.08335396986587, + 170.60046252016704, + -4.774915812025416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 108.08335396986587, + 173.60046252016704, + -4.774915812025416 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-49-53_767066249/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-49-53_767066249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a49e2ccff59cb21b11d96dfc4e058bee3ed9fc9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-49-53_767066249/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1010.607080883061, + -154.087254837191, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1010.607080883061, + -157.087254837191, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1010.607080883061, + -160.087254837191, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1010.607080883061, + -163.087254837191, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1010.607080883061, + -166.087254837191, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1010.607080883061, + -169.087254837191, + 1.9300493263983451 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1010.607080883061, + -169.087254837191, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1012.107080883061, + -171.68533104854433, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1013.607080883061, + -174.28340725989764, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1015.107080883061, + -176.88148347125096, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1016.607080883061, + -179.47955968260428, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1018.107080883061, + -182.0776358939576, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1019.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1019.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1019.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1019.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1022.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1025.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1028.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1031.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1034.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1037.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1040.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1043.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1046.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1049.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1052.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1055.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1058.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1061.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1064.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1067.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1070.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1073.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1076.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1079.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1082.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1085.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1088.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1091.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1094.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1097.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1100.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1100.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1100.607080883061, + -184.6757121053109, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1102.107080883061, + -187.27378831666422, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1103.607080883061, + -189.87186452801754, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1105.107080883061, + -192.46994073937086, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1106.607080883061, + -195.06801695072417, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1108.107080883061, + -197.6660931620775, + 1.9300493263983451 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1108.107080883061, + -197.6660931620775, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1110.7051570944143, + -199.1660931620775, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1113.3032333057677, + -200.6660931620775, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1115.901309517121, + -202.1660931620775, + 1.9300493263983451 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1118.4993857284744, + -203.6660931620775, + 1.9300493263983451 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-49-7_624549797/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-49-7_624549797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..898da734634f3fe6822ed9d157c8eebaa910e6b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-49-7_624549797/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1267.9332097153704, + 287.7422461040582, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1269.4332097153704, + 285.1441698927049, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1270.9332097153704, + 282.5460936813516, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1272.4332097153704, + 279.94801746999826, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1273.9332097153704, + 277.34994125864495, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1275.4332097153704, + 274.75186504729163, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1276.9332097153704, + 272.1537888359383, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1278.4332097153704, + 269.555712624585, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1279.9332097153704, + 266.9576364132317, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1281.4332097153704, + 264.35956020187837, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1282.9332097153704, + 261.76148399052505, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1284.4332097153704, + 259.16340777917173, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1285.9332097153704, + 256.5653315678184, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1287.4332097153704, + 253.9672553564651, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1288.9332097153704, + 251.3691791451118, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1290.4332097153704, + 248.77110293375847, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1291.9332097153704, + 246.17302672240515, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1293.4332097153704, + 243.57495051105184, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1294.9332097153704, + 240.97687429969852, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1296.4332097153704, + 238.3787980883452, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1297.9332097153704, + 235.7807218769919, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1299.4332097153704, + 233.18264566563857, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1300.9332097153704, + 230.58456945428526, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1302.4332097153704, + 227.98649324293194, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1303.9332097153704, + 225.38841703157863, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1305.4332097153704, + 222.7903408202253, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1306.9332097153704, + 220.192264608872, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1308.4332097153704, + 217.59418839751868, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1309.9332097153704, + 214.99611218616536, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1311.4332097153704, + 212.39803597481205, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1312.9332097153704, + 209.79995976345873, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1314.4332097153704, + 207.20188355210541, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1315.9332097153704, + 204.6038073407521, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1317.4332097153704, + 202.00573112939878, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1318.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1318.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1318.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1318.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1321.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1324.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1327.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1330.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1330.9332097153704, + 199.40765491804547, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1333.5312859267237, + 197.90765491804547, + -2.906285915351383 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1333.5312859267237, + 197.90765491804547, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1335.0312859267237, + 195.30957870669215, + -2.906285915351383 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1335.0312859267237, + 195.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1337.629362138077, + 193.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1340.2274383494305, + 192.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1342.8255145607839, + 190.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1345.4235907721372, + 189.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1348.0216669834906, + 187.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1350.619743194844, + 186.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1353.2178194061973, + 184.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1355.8158956175507, + 183.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1358.413971828904, + 181.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1361.0120480402575, + 180.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1363.6101242516108, + 178.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1366.2082004629642, + 177.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1368.8062766743176, + 175.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1371.404352885671, + 174.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1374.0024290970243, + 172.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1376.6005053083777, + 171.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1379.198581519731, + 169.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1381.7966577310845, + 168.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1384.3947339424378, + 166.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1386.9928101537912, + 165.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1389.5908863651446, + 163.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1392.188962576498, + 162.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1394.7870387878513, + 160.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1397.3851149992047, + 159.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1399.983191210558, + 157.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1402.5812674219114, + 156.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1405.1793436332648, + 154.80957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1407.7774198446182, + 153.30957870669215, + -2.906285915351383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1410.3754960559716, + 151.80957870669215, + -2.906285915351383 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-5-49_2006811972/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-5-49_2006811972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff0d59f51a835586a5afba2653a6d6f7faef2fe2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-5-49_2006811972/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1228.404356029388, + -175.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1231.404356029388, + -175.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1234.404356029388, + -175.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1237.404356029388, + -175.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1240.404356029388, + -175.90324160957877, + 1.7218085039430129 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1240.404356029388, + -175.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1243.0024322407414, + -177.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1245.6005084520948, + -178.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1248.1985846634482, + -180.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1250.7966608748015, + -181.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1253.394737086155, + -183.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1255.9928132975083, + -184.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1258.5908895088617, + -186.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1261.188965720215, + -187.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1263.7870419315684, + -189.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1266.3851181429218, + -190.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1268.9831943542752, + -192.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1271.5812705656285, + -193.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1274.179346776982, + -195.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1276.7774229883353, + -196.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1279.3754991996886, + -198.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1281.973575411042, + -199.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1284.5716516223954, + -201.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1287.1697278337488, + -202.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1289.7678040451021, + -204.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1292.3658802564555, + -205.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1294.9639564678089, + -207.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1297.5620326791623, + -208.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1300.1601088905156, + -210.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1302.758185101869, + -211.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1305.3562613132224, + -213.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1307.9543375245757, + -214.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1310.5524137359291, + -216.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1313.1504899472825, + -217.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1315.7485661586359, + -219.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1318.3466423699892, + -220.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1320.9447185813426, + -222.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1323.542794792696, + -223.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1326.1408710040494, + -225.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1328.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1328.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1331.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1334.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1337.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1340.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1343.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1346.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1349.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1352.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1355.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1358.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1361.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1364.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1364.7389472154027, + -226.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1367.337023426756, + -225.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1369.9350996381095, + -223.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1372.5331758494629, + -222.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1375.1312520608162, + -220.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1377.7293282721696, + -219.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1380.327404483523, + -217.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1382.9254806948763, + -216.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1385.5235569062297, + -214.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1388.121633117583, + -213.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1390.7197093289365, + -211.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1393.3177855402898, + -210.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1395.9158617516432, + -208.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1398.5139379629966, + -207.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1401.11201417435, + -205.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1403.7100903857033, + -204.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1406.3081665970567, + -202.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1408.90624280841, + -201.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1411.5043190197634, + -199.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1414.1023952311168, + -198.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1416.7004714424702, + -196.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1419.2985476538236, + -195.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1421.896623865177, + -193.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1424.4947000765303, + -192.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1427.0927762878837, + -190.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1429.690852499237, + -189.40324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1432.2889287105904, + -187.90324160957877, + 1.7218085039430129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1434.8870049219438, + -186.40324160957877, + 1.7218085039430129 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-50-21_1886086990/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-50-21_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f21040eff3bacf86307d49888aed87ca7d847b10 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-50-21_1886086990/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -180.06299730525612, + -204.2634682388434, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -178.56299730525612, + -206.8615444501967, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -177.06299730525612, + -209.45962066155002, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -175.56299730525612, + -212.05769687290334, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -174.06299730525612, + -214.65577308425665, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -172.56299730525612, + -217.25384929560997, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -171.06299730525612, + -219.85192550696328, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -169.56299730525612, + -222.4500017183166, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -168.06299730525612, + -225.04807792966992, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -166.56299730525612, + -227.64615414102323, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -165.06299730525612, + -230.24423035237655, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -163.56299730525612, + -232.84230656372986, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -162.06299730525612, + -235.44038277508318, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -160.56299730525612, + -238.0384589864365, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -159.06299730525612, + -240.6365351977898, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -157.56299730525612, + -243.23461140914313, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -156.06299730525612, + -245.83268762049644, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -154.56299730525612, + -248.43076383184976, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -153.06299730525612, + -251.02884004320308, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -151.56299730525612, + -253.6269162545564, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -150.06299730525612, + -256.22499246590974, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -148.56299730525612, + -258.82306867726305, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -147.06299730525612, + -261.42114488861637, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -145.56299730525612, + -264.0192210999697, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -144.06299730525612, + -266.617297311323, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -142.56299730525612, + -269.2153735226763, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -141.06299730525612, + -271.81344973402963, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -139.56299730525612, + -274.41152594538295, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -138.06299730525612, + -277.00960215673626, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -136.56299730525612, + -279.6076783680896, + 3.507283082052739 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -136.56299730525612, + -279.6076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -133.9649210939028, + -281.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -131.3668448825495, + -282.6076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -128.76876867119617, + -284.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -126.17069245984285, + -285.6076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -123.57261624848954, + -287.1076783680896, + 3.507283082052739 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -123.57261624848954, + -287.1076783680896, + 3.507283082052739 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -123.57261624848954, + -287.1076783680896, + 3.507283082052739 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -123.57261624848954, + -287.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -123.57261624848954, + -290.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -123.57261624848954, + -293.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -123.57261624848954, + -296.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -123.57261624848954, + -299.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -123.57261624848954, + -302.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -123.57261624848954, + -305.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -123.57261624848954, + -308.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -123.57261624848954, + -311.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -123.57261624848954, + -314.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -123.57261624848954, + -317.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -123.57261624848954, + -320.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -123.57261624848954, + -323.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -123.57261624848954, + -326.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -123.57261624848954, + -329.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -123.57261624848954, + -332.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -123.57261624848954, + -335.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -123.57261624848954, + -338.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -123.57261624848954, + -341.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -123.57261624848954, + -344.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -123.57261624848954, + -347.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -123.57261624848954, + -350.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -123.57261624848954, + -353.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -123.57261624848954, + -356.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -123.57261624848954, + -359.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -123.57261624848954, + -362.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -123.57261624848954, + -365.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -123.57261624848954, + -368.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -123.57261624848954, + -371.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -123.57261624848954, + -374.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -123.57261624848954, + -377.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -123.57261624848954, + -380.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -123.57261624848954, + -383.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -123.57261624848954, + -386.1076783680896, + 3.507283082052739 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -123.57261624848954, + -386.1076783680896, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -125.07261624848954, + -388.7057545794429, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -126.57261624848954, + -391.3038307907962, + 3.507283082052739 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -128.07261624848954, + -393.9019070021495, + 3.507283082052739 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-50-55_739273303/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-50-55_739273303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4fd1e03a8134f9d004664b767d3cb636d8cd4c3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-50-55_739273303/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 927.5781458081576, + -509.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 927.5781458081576, + -506.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 927.5781458081576, + -503.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 927.5781458081576, + -500.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 927.5781458081576, + -497.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 927.5781458081576, + -494.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 927.5781458081576, + -491.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 927.5781458081576, + -488.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 927.5781458081576, + -485.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 927.5781458081576, + -482.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 927.5781458081576, + -479.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 927.5781458081576, + -476.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 927.5781458081576, + -473.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 927.5781458081576, + -470.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 927.5781458081576, + -467.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 927.5781458081576, + -464.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 927.5781458081576, + -461.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 927.5781458081576, + -458.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 927.5781458081576, + -455.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 927.5781458081576, + -452.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 927.5781458081576, + -449.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 927.5781458081576, + -446.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 927.5781458081576, + -443.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 927.5781458081576, + -440.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 927.5781458081576, + -437.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 927.5781458081576, + -434.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 927.5781458081576, + -431.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 927.5781458081576, + -428.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 927.5781458081576, + -425.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 927.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 927.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 927.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 927.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 927.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 924.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 921.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 918.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 915.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 912.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 909.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 906.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 903.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 900.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 897.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 894.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 891.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 888.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 885.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 882.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 879.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 876.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 873.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 870.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 867.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 864.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 861.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 858.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 855.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 855.5781458081576, + -422.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 852.9800695968042, + -420.9379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 850.3819933854509, + -419.4379434971289, + 0.3705363548257443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 847.7839171740975, + -417.9379434971289, + 0.3705363548257443 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-51-31_1750003033/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-51-31_1750003033/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9be4504b3d82d49e229220f2a0f71dd1c1271f8a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-51-31_1750003033/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 951.5424696001654, + -470.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 951.5424696001654, + -467.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 951.5424696001654, + -464.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 951.5424696001654, + -461.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 951.5424696001654, + -458.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 951.5424696001654, + -455.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 951.5424696001654, + -452.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 951.5424696001654, + -449.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 951.5424696001654, + -446.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 951.5424696001654, + -443.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 951.5424696001654, + -440.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 951.5424696001654, + -437.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 951.5424696001654, + -434.8684265045902, + 4.51662477274404 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 951.5424696001654, + -434.8684265045902, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 953.0424696001654, + -432.2703502932369, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 954.5424696001654, + -429.6722740818836, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 956.0424696001654, + -427.07419787053027, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 957.5424696001654, + -424.47612165917695, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 959.0424696001654, + -421.87804544782364, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 960.5424696001654, + -419.2799692364703, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 962.0424696001654, + -416.681893025117, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 963.5424696001654, + -414.0838168137637, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 965.0424696001654, + -411.4857406024104, + 4.51662477274404 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 965.0424696001654, + -411.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 965.0424696001654, + -408.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 965.0424696001654, + -405.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 965.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 965.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 965.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 965.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 965.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 962.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 959.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 956.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 953.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 950.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 947.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 944.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 941.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 938.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 935.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 932.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 929.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 926.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 923.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 920.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 917.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 914.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 911.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 908.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 908.0424696001654, + -402.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 905.4443933888122, + -400.9857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 902.8463171774588, + -399.4857406024104, + 4.51662477274404 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 902.8463171774588, + -399.4857406024104, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 901.3463171774588, + -396.88766439105706, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 899.8463171774588, + -394.28958817970374, + 4.51662477274404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 898.3463171774588, + -391.6915119683504, + 4.51662477274404 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-56-4_474613996/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-56-4_474613996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..672297cd37602ddf66bd9d4b3aa59643eada6fa5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-56-4_474613996/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1571.4845033489657, + -178.28049025669446, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1572.9845033489657, + -175.68241404534115, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1574.4845033489657, + -173.08433783398783, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1575.9845033489657, + -170.48626162263452, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1577.4845033489657, + -167.8881854112812, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1578.9845033489657, + -165.29010919992788, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1580.4845033489657, + -162.69203298857457, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1581.9845033489657, + -160.09395677722125, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1583.4845033489657, + -157.49588056586794, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1584.9845033489657, + -154.89780435451462, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1586.4845033489657, + -152.2997281431613, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1587.9845033489657, + -149.701651931808, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1589.4845033489657, + -147.10357572045467, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1590.9845033489657, + -144.50549950910136, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1592.4845033489657, + -141.90742329774804, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1593.9845033489657, + -139.30934708639472, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1595.4845033489657, + -136.7112708750414, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1596.9845033489657, + -134.1131946636881, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1598.4845033489657, + -131.51511845233478, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1599.9845033489657, + -128.91704224098146, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1601.4845033489657, + -126.31896602962814, + -2.5886899189883907 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1601.4845033489657, + -126.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1601.4845033489657, + -123.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1601.4845033489657, + -120.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1601.4845033489657, + -117.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1601.4845033489657, + -114.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1601.4845033489657, + -111.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1601.4845033489657, + -108.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1601.4845033489657, + -105.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1601.4845033489657, + -102.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1601.4845033489657, + -99.31896602962814, + -2.5886899189883907 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1601.4845033489657, + -99.31896602962814, + -2.5886899189883907 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1601.4845033489657, + -99.31896602962814, + -2.5886899189883907 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1601.4845033489657, + -99.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1598.8864271376124, + -97.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1596.288350926259, + -96.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1593.6902747149056, + -94.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1591.0921985035523, + -93.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1588.4941222921989, + -91.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1585.8960460808455, + -90.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1583.2979698694921, + -88.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1580.6998936581388, + -87.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1578.1018174467854, + -85.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1575.503741235432, + -84.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1572.9056650240786, + -82.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1570.3075888127253, + -81.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1567.709512601372, + -79.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1565.1114363900185, + -78.31896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1562.5133601786652, + -76.81896602962814, + -2.5886899189883907 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1562.5133601786652, + -76.81896602962814, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1561.0133601786652, + -74.22088981827483, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1559.5133601786652, + -71.62281360692151, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1558.0133601786652, + -69.0247373955682, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1556.5133601786652, + -66.42666118421488, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1555.0133601786652, + -63.82858497286156, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1553.5133601786652, + -61.23050876150825, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1552.0133601786652, + -58.63243255015493, + -2.5886899189883907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1550.5133601786652, + -56.034356338801615, + -2.5886899189883907 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-58-28_1448703729/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-58-28_1448703729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82acc46117517fb11e3d54a18c5b7da98e9111f3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-58-28_1448703729/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 207.28525464046086, + -168.1395573415835, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 208.78525464046086, + -165.54148113023018, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 210.28525464046086, + -162.94340491887687, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 211.78525464046086, + -160.34532870752355, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 213.28525464046086, + -157.74725249617023, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 214.78525464046086, + -155.14917628481692, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 216.28525464046086, + -152.5511000734636, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 217.78525464046086, + -149.95302386211029, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 219.28525464046086, + -147.35494765075697, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 220.78525464046086, + -144.75687143940365, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 220.78525464046086, + -144.75687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 223.38333085181418, + -143.25687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 225.9814070631675, + -141.75687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 228.5794832745208, + -140.25687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 231.17755948587413, + -138.75687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 233.77563569722744, + -137.25687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 236.37371190858076, + -135.75687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 238.97178811993408, + -134.25687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 241.5698643312874, + -132.75687143940365, + -3.2186681262618246 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 241.5698643312874, + -132.75687143940365, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 243.0698643312874, + -130.15879522805034, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 244.5698643312874, + -127.56071901669702, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 246.0698643312874, + -124.9626428053437, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 247.5698643312874, + -122.36456659399039, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 249.0698643312874, + -119.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 249.0698643312874, + -119.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 249.0698643312874, + -119.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 249.0698643312874, + -119.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 249.0698643312874, + -119.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 249.0698643312874, + -119.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 249.0698643312874, + -119.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 249.0698643312874, + -122.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 249.0698643312874, + -125.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 249.0698643312874, + -128.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 249.0698643312874, + -131.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 249.0698643312874, + -134.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 249.0698643312874, + -137.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 249.0698643312874, + -140.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 249.0698643312874, + -143.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 249.0698643312874, + -146.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 249.0698643312874, + -149.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 249.0698643312874, + -152.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 249.0698643312874, + -155.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 249.0698643312874, + -158.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 249.0698643312874, + -161.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 249.0698643312874, + -164.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 249.0698643312874, + -167.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 249.0698643312874, + -170.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 249.0698643312874, + -173.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 249.0698643312874, + -176.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 249.0698643312874, + -179.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 249.0698643312874, + -182.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 249.0698643312874, + -185.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 249.0698643312874, + -188.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 249.0698643312874, + -191.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 249.0698643312874, + -194.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 249.0698643312874, + -197.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 249.0698643312874, + -197.76649038263707, + -3.2186681262618246 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 249.0698643312874, + -197.76649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 246.47178811993408, + -199.26649038263707, + -3.2186681262618246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 243.87371190858076, + -200.76649038263707, + -3.2186681262618246 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-59-33_1545032460/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-59-33_1545032460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a698fe54c237dc0f1dfb55933dc20704171b71d1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-59-33_1545032460/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1072.4360908269352, + -159.2141010368475, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1070.9360908269352, + -161.8121772482008, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1069.4360908269352, + -164.41025345955413, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1067.9360908269352, + -167.00832967090744, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1066.4360908269352, + -169.60640588226076, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1064.9360908269352, + -172.20448209361408, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1063.4360908269352, + -174.8025583049674, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1061.9360908269352, + -177.4006345163207, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1060.4360908269352, + -179.99871072767402, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1058.9360908269352, + -182.59678693902734, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1057.4360908269352, + -185.19486315038066, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1055.9360908269352, + -187.79293936173397, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1054.4360908269352, + -190.3910155730873, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1052.9360908269352, + -192.9890917844406, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1051.4360908269352, + -195.58716799579392, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1049.9360908269352, + -198.18524420714724, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1048.4360908269352, + -200.78332041850055, + 3.9057059289230764 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1048.4360908269352, + -200.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1048.4360908269352, + -203.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1048.4360908269352, + -206.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1048.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1048.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1048.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1048.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1048.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1051.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1054.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1057.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1060.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1063.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1066.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1069.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1072.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1075.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1078.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1081.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1084.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1087.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1090.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1093.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1096.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1099.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1102.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1105.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1108.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1111.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1114.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1117.4360908269352, + -209.78332041850055, + 3.9057059289230764 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-6-26_1253207672/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-6-26_1253207672/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ec282988888a75d94bdb0a0302f892f76b496ce --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-6-26_1253207672/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1386.7752788176522, + 258.3261198905884, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1384.1772026062988, + 256.8261198905884, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1381.5791263949454, + 255.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1378.981050183592, + 253.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1376.3829739722387, + 252.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1373.7848977608853, + 250.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1371.186821549532, + 249.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1368.5887453381786, + 247.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1365.9906691268252, + 246.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1363.3925929154718, + 244.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1360.7945167041185, + 243.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1358.196440492765, + 241.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1355.5983642814117, + 240.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1353.0002880700583, + 238.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1350.402211858705, + 237.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1347.8041356473516, + 235.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1345.2060594359982, + 234.32611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1342.6079832246448, + 232.82611989058842, + 0.4832547638129894 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1342.6079832246448, + 232.82611989058842, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1341.1079832246448, + 230.2280436792351, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1339.6079832246448, + 227.62996746788178, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1338.1079832246448, + 225.03189125652847, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1336.6079832246448, + 222.43381504517515, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1335.1079832246448, + 219.83573883382184, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1333.6079832246448, + 217.23766262246852, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1332.1079832246448, + 214.6395864111152, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1330.6079832246448, + 212.0415101997619, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1329.1079832246448, + 209.44343398840857, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1327.6079832246448, + 206.84535777705526, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1326.1079832246448, + 204.24728156570194, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1324.6079832246448, + 201.64920535434862, + 0.4832547638129894 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1324.6079832246448, + 201.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1322.0099070132915, + 200.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1319.411830801938, + 198.64920535434862, + 0.4832547638129894 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1319.411830801938, + 198.64920535434862, + 0.4832547638129894 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1319.411830801938, + 198.64920535434862, + 0.4832547638129894 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1319.411830801938, + 198.64920535434862, + 0.4832547638129894 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1319.411830801938, + 198.64920535434862, + 0.4832547638129894 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1319.411830801938, + 198.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1322.0099070132915, + 197.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1324.6079832246448, + 195.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1327.2060594359982, + 194.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1329.8041356473516, + 192.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1332.402211858705, + 191.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1335.0002880700583, + 189.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1337.5983642814117, + 188.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1340.196440492765, + 186.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1342.7945167041185, + 185.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1345.3925929154718, + 183.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1347.9906691268252, + 182.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1350.5887453381786, + 180.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1353.186821549532, + 179.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1355.7848977608853, + 177.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1358.3829739722387, + 176.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1360.981050183592, + 174.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1363.5791263949454, + 173.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1366.1772026062988, + 171.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1368.7752788176522, + 170.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1371.3733550290056, + 168.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1373.971431240359, + 167.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1376.5695074517123, + 165.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1379.1675836630657, + 164.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1381.765659874419, + 162.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1384.3637360857724, + 161.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1386.9618122971258, + 159.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1389.5598885084792, + 158.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1392.1579647198325, + 156.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1394.756040931186, + 155.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1397.3541171425393, + 153.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1399.9521933538927, + 152.14920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1402.550269565246, + 150.64920535434862, + 0.4832547638129894 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1402.550269565246, + 150.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1405.550269565246, + 150.64920535434862, + 0.4832547638129894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1408.550269565246, + 150.64920535434862, + 0.4832547638129894 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-8-45_1046741222/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-8-45_1046741222/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a97bd31b7b08fcf0df3170ee018ee4044f974181 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-8-45_1046741222/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1539.567300495024, + -179.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1539.567300495024, + -176.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1539.567300495024, + -173.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1539.567300495024, + -170.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1539.567300495024, + -167.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1539.567300495024, + -164.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1539.567300495024, + -161.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1539.567300495024, + -158.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1539.567300495024, + -155.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1539.567300495024, + -152.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1539.567300495024, + -149.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1539.567300495024, + -146.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1539.567300495024, + -143.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1539.567300495024, + -140.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1539.567300495024, + -137.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1539.567300495024, + -134.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1539.567300495024, + -131.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1539.567300495024, + -128.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1539.567300495024, + -125.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1539.567300495024, + -122.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1539.567300495024, + -119.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1539.567300495024, + -116.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1539.567300495024, + -113.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1539.567300495024, + -110.23719940769027, + -2.8685221222472173 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1539.567300495024, + -110.23719940769027, + -2.8685221222472173 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1539.567300495024, + -110.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1542.1653767063774, + -108.73719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1544.7634529177308, + -107.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1547.3615291290841, + -105.73719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1549.9596053404375, + -104.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1552.557681551791, + -102.73719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1555.1557577631443, + -101.23719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1557.7538339744976, + -99.73719940769027, + -2.8685221222472173 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1557.7538339744976, + -99.73719940769027, + -2.8685221222472173 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1557.7538339744976, + -99.73719940769027, + -2.8685221222472173 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1557.7538339744976, + -99.73719940769027, + -2.8685221222472173 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1557.7538339744976, + -99.73719940769027, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1556.2538339744976, + -97.13912319633695, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1554.7538339744976, + -94.54104698498364, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1553.2538339744976, + -91.94297077363032, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1551.7538339744976, + -89.344894562277, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1550.2538339744976, + -86.74681835092369, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1548.7538339744976, + -84.14874213957037, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1547.2538339744976, + -81.55066592821706, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1545.7538339744976, + -78.95258971686374, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1544.2538339744976, + -76.35451350551043, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1542.7538339744976, + -73.75643729415711, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1541.2538339744976, + -71.1583610828038, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1539.7538339744976, + -68.56028487145048, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1538.2538339744976, + -65.96220866009716, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1536.7538339744976, + -63.364132448743845, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1535.2538339744976, + -60.76605623739053, + -2.8685221222472173 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1533.7538339744976, + -58.16798002603721, + -2.8685221222472173 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-9-12_337739299/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-9-12_337739299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89888dd749f3705e2b95ace18e2b8f38d1ae63f0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_1-9-12_337739299/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -169.3652203276285, + -41.05469892942435, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -167.8652203276285, + -43.65277514077766, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -166.3652203276285, + -46.25085135213098, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -164.8652203276285, + -48.848927563484295, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -163.3652203276285, + -51.44700377483761, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -161.8652203276285, + -54.04507998619093, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -160.3652203276285, + -56.64315619754424, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -158.8652203276285, + -59.24123240889756, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -157.3652203276285, + -61.839308620250875, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -155.8652203276285, + -64.43738483160419, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -154.3652203276285, + -67.03546104295751, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -152.8652203276285, + -69.63353725431082, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -151.3652203276285, + -72.23161346566414, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -149.8652203276285, + -74.82968967701746, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -148.3652203276285, + -77.42776588837077, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -146.8652203276285, + -80.02584209972409, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -145.3652203276285, + -82.6239183110774, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -143.8652203276285, + -85.22199452243072, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -142.3652203276285, + -87.82007073378404, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -140.8652203276285, + -90.41814694513735, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -139.3652203276285, + -93.01622315649067, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -137.8652203276285, + -95.61429936784398, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -136.3652203276285, + -98.2123755791973, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -134.8652203276285, + -100.81045179055062, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.3652203276285, + -103.40852800190393, + -4.97944454592836 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -133.3652203276285, + -103.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -133.3652203276285, + -106.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -133.3652203276285, + -109.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -133.3652203276285, + -112.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -133.3652203276285, + -115.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -133.3652203276285, + -118.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -133.3652203276285, + -121.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -133.3652203276285, + -124.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -133.3652203276285, + -127.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -133.3652203276285, + -130.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -133.3652203276285, + -133.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -133.3652203276285, + -136.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -133.3652203276285, + -139.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -133.3652203276285, + -142.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -133.3652203276285, + -145.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -133.3652203276285, + -148.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -133.3652203276285, + -151.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -133.3652203276285, + -154.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -133.3652203276285, + -157.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -133.3652203276285, + -160.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -133.3652203276285, + -163.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -133.3652203276285, + -166.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -133.3652203276285, + -169.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -133.3652203276285, + -172.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -133.3652203276285, + -175.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -133.3652203276285, + -178.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -133.3652203276285, + -181.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -133.3652203276285, + -184.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -133.3652203276285, + -187.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -133.3652203276285, + -190.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -133.3652203276285, + -193.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -133.3652203276285, + -196.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -133.3652203276285, + -199.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -133.3652203276285, + -202.40852800190393, + -4.97944454592836 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -133.3652203276285, + -202.40852800190393, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -134.8652203276285, + -205.00660421325725, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -136.3652203276285, + -207.60468042461056, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -137.8652203276285, + -210.20275663596388, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -139.3652203276285, + -212.8008328473172, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -140.8652203276285, + -215.3989090586705, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -142.3652203276285, + -217.99698527002383, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -143.8652203276285, + -220.59506148137714, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -145.3652203276285, + -223.19313769273046, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -146.8652203276285, + -225.79121390408378, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -148.3652203276285, + -228.3892901154371, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -149.8652203276285, + -230.9873663267904, + -4.97944454592836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -151.3652203276285, + -233.58544253814372, + -4.97944454592836 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-10-38_2125023787/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-10-38_2125023787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b93f14392163d9b320f21ce552dca456c59392c6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-10-38_2125023787/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 198.97452352818064, + 264.0434230912316, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 200.47452352818064, + 261.4453468798783, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 201.97452352818064, + 258.84727066852497, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 203.47452352818064, + 256.24919445717165, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 204.97452352818064, + 253.65111824581834, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 206.47452352818064, + 251.05304203446502, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 207.97452352818064, + 248.4549658231117, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 209.47452352818064, + 245.8568896117584, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 210.97452352818064, + 243.25881340040507, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 212.47452352818064, + 240.66073718905176, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 213.97452352818064, + 238.06266097769844, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 215.47452352818064, + 235.46458476634513, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 216.97452352818064, + 232.8665085549918, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 218.47452352818064, + 230.2684323436385, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 219.97452352818064, + 227.67035613228518, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 221.47452352818064, + 225.07227992093186, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 222.97452352818064, + 222.47420370957855, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 224.47452352818064, + 219.87612749822523, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 225.97452352818064, + 217.27805128687191, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 227.47452352818064, + 214.6799750755186, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 228.97452352818064, + 212.08189886416528, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 230.47452352818064, + 209.48382265281197, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 231.97452352818064, + 206.88574644145865, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 233.47452352818064, + 204.28767023010533, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 234.97452352818064, + 201.68959401875202, + -0.6500335182664827 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 234.97452352818064, + 201.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 237.57259973953396, + 200.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 240.17067595088727, + 198.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 242.7687521622406, + 197.18959401875202, + -0.6500335182664827 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 242.7687521622406, + 197.18959401875202, + -0.6500335182664827 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 242.7687521622406, + 197.18959401875202, + -0.6500335182664827 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 242.7687521622406, + 197.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 245.3668283735939, + 198.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 247.96490458494722, + 200.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 250.56298079630054, + 201.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 253.16105700765385, + 203.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 255.75913321900717, + 204.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 258.3572094303605, + 206.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982942 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 260.95528564171383, + 207.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 263.55336185306714, + 209.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 266.15143806442046, + 210.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 268.7495142757738, + 212.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 271.3475904871271, + 213.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 273.9456666984804, + 215.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 276.5437429098337, + 216.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 279.14181912118704, + 218.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 281.73989533254036, + 219.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 284.3379715438937, + 221.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 286.936047755247, + 222.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 289.5341239666003, + 224.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 292.1322001779536, + 225.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 294.73027638930694, + 227.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 297.32835260066025, + 228.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 299.92642881201357, + 230.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 302.5245050233669, + 231.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 305.1225812347202, + 233.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 307.7206574460735, + 234.68959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 310.31873365742683, + 236.18959401875202, + -0.6500335182664827 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 310.31873365742683, + 236.18959401875202, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 311.81873365742683, + 238.78767023010533, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 313.31873365742683, + 241.38574644145865, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 314.81873365742683, + 243.98382265281197, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 316.31873365742683, + 246.58189886416528, + -0.6500335182664827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 317.81873365742683, + 249.1799750755186, + -0.6500335182664827 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-12-30_310242589/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-12-30_310242589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7a8dbc5d96efc5cadbc474563bb0e3546881847 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-12-30_310242589/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4.810641055957067, + -87.59265027156759, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 6.310641055957067, + -84.99457406021428, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 7.810641055957067, + -82.39649784886096, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 9.310641055957067, + -79.79842163750764, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 10.810641055957067, + -77.20034542615433, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 12.310641055957067, + -74.60226921480101, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 13.810641055957067, + -72.0041930034477, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 15.310641055957067, + -69.40611679209438, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 16.810641055957067, + -66.80804058074106, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 18.310641055957067, + -64.20996436938775, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 19.810641055957067, + -61.61188815803443, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 21.310641055957067, + -59.013811946681116, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 22.810641055957067, + -56.4157357353278, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 24.310641055957067, + -53.817659523974484, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 25.810641055957067, + -51.21958331262117, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 27.310641055957067, + -48.62150710126785, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 28.810641055957067, + -46.023430889914536, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 30.310641055957067, + -43.42535467856122, + 3.3142685848378335 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 30.310641055957067, + -43.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 30.310641055957067, + -40.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 30.310641055957067, + -37.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 30.310641055957067, + -34.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 30.310641055957067, + -31.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 30.310641055957067, + -28.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 30.310641055957067, + -25.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 30.310641055957067, + -22.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 30.310641055957067, + -19.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 30.310641055957067, + -16.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 30.310641055957067, + -13.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 30.310641055957067, + -10.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 30.310641055957067, + -7.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 30.310641055957067, + -4.42535467856122, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 30.310641055957067, + -1.4253546785612201, + 3.3142685848378335 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 30.310641055957067, + -1.4253546785612201, + 3.3142685848378335 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 30.310641055957067, + -1.4253546785612201, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982994 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 32.90871726731038, + 0.07464532143877967, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982994 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 35.506793478663695, + 1.5746453214387794, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 38.10486969001701, + 3.074645321438779, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 40.70294590137033, + 4.574645321438779, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 43.30102211272364, + 6.074645321438779, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 45.89909832407696, + 7.574645321438779, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 48.497174535430275, + 9.074645321438778, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 51.09525074678359, + 10.574645321438778, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 53.69332695813691, + 12.074645321438778, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 56.29140316949022, + 13.574645321438778, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 58.88947938084354, + 15.074645321438778, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 61.487555592196856, + 16.574645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 64.08563180355017, + 18.074645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 66.68370801490349, + 19.574645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 69.2817842262568, + 21.074645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 71.87986043761012, + 22.574645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 74.47793664896344, + 24.074645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 77.07601286031675, + 25.574645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 79.67408907167007, + 27.074645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 82.27216528302338, + 28.574645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 84.8702414943767, + 30.074645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 87.46831770573002, + 31.574645321438776, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 90.06639391708333, + 33.07464532143877, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 92.66447012843665, + 34.57464532143877, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 95.26254633978996, + 36.07464532143877, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 97.86062255114328, + 37.57464532143877, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 100.4586987624966, + 39.07464532143877, + 3.3142685848378335 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 100.4586987624966, + 39.07464532143877, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 101.9586987624966, + 41.67272153279209, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 103.4586987624966, + 44.270797744145405, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 104.9586987624966, + 46.86887395549872, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 106.4586987624966, + 49.46695016685204, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 107.9586987624966, + 52.06502637820535, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 109.4586987624966, + 54.66310258955867, + 3.3142685848378335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 110.9586987624966, + 57.261178800911985, + 3.3142685848378335 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-13-3_1211721386/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-13-3_1211721386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35a9899b516f01ff2be68a873e22aad8244ce391 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-13-3_1211721386/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -167.06864743986324, + -2.7602532729005844, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -169.66672365121656, + -4.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -172.26479986256987, + -5.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -174.8628760739232, + -7.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -177.4609522852765, + -8.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -180.05902849662982, + -10.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.65710470798314, + -11.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.25518091933645, + -13.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.85325713068977, + -14.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -190.45133334204309, + -16.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -193.0494095533964, + -17.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.64748576474972, + -19.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -198.24556197610303, + -20.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -200.84363818745635, + -22.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -203.44171439880967, + -23.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -206.03979061016298, + -25.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -208.6378668215163, + -26.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -211.2359430328696, + -28.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -213.83401924422293, + -29.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -216.43209545557625, + -31.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -219.03017166692956, + -32.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -221.62824787828288, + -34.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -224.2263240896362, + -35.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -226.8244003009895, + -37.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -229.42247651234283, + -38.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -232.02055272369614, + -40.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -234.61862893504946, + -41.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -237.21670514640277, + -43.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -239.8147813577561, + -44.760253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -242.4128575691094, + -46.260253272900584, + 2.221384014625386 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -242.4128575691094, + -46.260253272900584, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -243.9128575691094, + -48.8583294842539, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -245.4128575691094, + -51.456405695607216, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -246.9128575691094, + -54.05448190696053, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -248.4128575691094, + -56.65255811831385, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -249.9128575691094, + -59.250634329667164, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -251.4128575691094, + -61.84871054102048, + 2.221384014625386 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -251.4128575691094, + -61.84871054102048, + 2.221384014625386 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -251.4128575691094, + -61.84871054102048, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -249.9128575691094, + -64.4467867523738, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -248.4128575691094, + -67.04486296372711, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -246.9128575691094, + -69.64293917508043, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -245.4128575691094, + -72.24101538643374, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -243.9128575691094, + -74.83909159778706, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -242.4128575691094, + -77.43716780914038, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -240.9128575691094, + -80.03524402049369, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -239.4128575691094, + -82.63332023184701, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -237.9128575691094, + -85.23139644320032, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -236.4128575691094, + -87.82947265455364, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -234.9128575691094, + -90.42754886590696, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -233.4128575691094, + -93.02562507726027, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -231.9128575691094, + -95.62370128861359, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -230.4128575691094, + -98.2217774999669, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -228.9128575691094, + -100.81985371132022, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -227.4128575691094, + -103.41792992267354, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -225.9128575691094, + -106.01600613402685, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -224.4128575691094, + -108.61408234538017, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -222.9128575691094, + -111.21215855673348, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -221.4128575691094, + -113.8102347680868, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -219.9128575691094, + -116.40831097944012, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -218.4128575691094, + -119.00638719079343, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -216.9128575691094, + -121.60446340214675, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -215.4128575691094, + -124.20253961350006, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -213.9128575691094, + -126.80061582485338, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -212.4128575691094, + -129.39869203620668, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965954 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -210.9128575691094, + -131.99676824756, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -209.4128575691094, + -134.59484445891331, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -207.9128575691094, + -137.19292067026663, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -206.4128575691094, + -139.79099688161995, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -204.9128575691094, + -142.38907309297326, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -203.4128575691094, + -144.98714930432658, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -201.9128575691094, + -147.5852255156799, + 2.221384014625386 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -201.9128575691094, + -147.5852255156799, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -201.9128575691094, + -150.5852255156799, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -201.9128575691094, + -153.5852255156799, + 2.221384014625386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -201.9128575691094, + -156.5852255156799, + 2.221384014625386 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-13-44_1719650353/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-13-44_1719650353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..daf690f6f301acc3b758e6d64ef597bb5fa96802 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-13-44_1719650353/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1031.1886122034898, + -297.9762062567747, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1032.6886122034898, + -295.37813004542136, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1034.1886122034898, + -292.78005383406804, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1035.6886122034898, + -290.1819776227147, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1037.1886122034898, + -287.5839014113614, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1038.6886122034898, + -284.9858252000081, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1040.1886122034898, + -282.3877489886548, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1041.6886122034898, + -279.78967277730146, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1043.1886122034898, + -277.19159656594815, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1044.6886122034898, + -274.59352035459483, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1046.1886122034898, + -271.9954441432415, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1047.6886122034898, + -269.3973679318882, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1049.1886122034898, + -266.7992917205349, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1050.6886122034898, + -264.20121550918157, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1052.1886122034898, + -261.60313929782825, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1053.6886122034898, + -259.00506308647493, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1055.1886122034898, + -256.4069868751216, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1056.6886122034898, + -253.8089106637683, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1058.1886122034898, + -251.21083445241499, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1059.6886122034898, + -248.61275824106167, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1061.1886122034898, + -246.01468202970835, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1062.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1062.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1062.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1062.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1065.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1068.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1071.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1074.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1077.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1080.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1083.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1086.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1089.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1092.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1095.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1095.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1095.6886122034898, + -243.41660581835504, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1097.1886122034898, + -240.81852960700172, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1098.6886122034898, + -238.2204533956484, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1100.1886122034898, + -235.6223771842951, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1101.6886122034898, + -233.02430097294177, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1103.1886122034898, + -230.42622476158846, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1104.6886122034898, + -227.82814855023514, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1106.1886122034898, + -225.23007233888183, + -3.1138483575606273 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1106.1886122034898, + -225.23007233888183, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1108.7866884148432, + -223.73007233888183, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1111.3847646261966, + -222.23007233888183, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1113.98284083755, + -220.73007233888183, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1116.5809170489033, + -219.23007233888183, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1119.1789932602567, + -217.73007233888183, + -3.1138483575606273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1121.77706947161, + -216.23007233888183, + -3.1138483575606273 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-16-57_671068506/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-16-57_671068506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..100d38672006c184b2ce61b2b9e4b5f3b7600083 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-16-57_671068506/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 151.06733716270156, + 272.5192983196288, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 149.56733716270156, + 269.92122210827546, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 148.06733716270156, + 267.32314589692214, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 146.56733716270156, + 264.7250696855688, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 145.06733716270156, + 262.1269934742155, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 143.56733716270156, + 259.5289172628622, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 142.06733716270156, + 256.9308410515089, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 140.56733716270156, + 254.33276484015556, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 139.06733716270156, + 251.73468862880225, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 137.56733716270156, + 249.13661241744893, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 136.06733716270156, + 246.5385362060956, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 134.56733716270156, + 243.9404599947423, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 133.06733716270156, + 241.34238378338898, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 131.56733716270156, + 238.74430757203567, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 130.06733716270156, + 236.14623136068235, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 128.56733716270156, + 233.54815514932903, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 127.06733716270156, + 230.95007893797572, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 125.56733716270156, + 228.3520027266224, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 124.06733716270156, + 225.7539265152691, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 122.56733716270156, + 223.15585030391577, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 121.06733716270156, + 220.55777409256245, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 119.56733716270156, + 217.95969788120914, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 118.06733716270156, + 215.36162166985582, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 116.56733716270156, + 212.7635454585025, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 115.06733716270156, + 210.1654692471492, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 113.56733716270156, + 207.56739303579587, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 112.06733716270156, + 204.96931682444256, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 110.56733716270156, + 202.37124061308924, + -3.6992078335806586 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 110.56733716270156, + 202.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 110.56733716270156, + 199.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 110.56733716270156, + 196.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 110.56733716270156, + 193.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 110.56733716270156, + 190.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 110.56733716270156, + 187.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 110.56733716270156, + 184.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 110.56733716270156, + 181.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 110.56733716270156, + 178.37124061308924, + -3.6992078335806586 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 110.56733716270156, + 178.37124061308924, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 112.06733716270156, + 175.77316440173593, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 113.56733716270156, + 173.1750881903826, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 115.06733716270156, + 170.5770119790293, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 116.56733716270156, + 167.97893576767598, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 118.06733716270156, + 165.38085955632266, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 119.56733716270156, + 162.78278334496935, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 121.06733716270156, + 160.18470713361603, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 122.56733716270156, + 157.5866309222627, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 124.06733716270156, + 154.9885547109094, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 125.56733716270156, + 152.39047849955608, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 127.06733716270156, + 149.79240228820277, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 128.56733716270156, + 147.19432607684945, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 130.06733716270156, + 144.59624986549613, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 131.56733716270156, + 141.99817365414282, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 133.06733716270156, + 139.4000974427895, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 134.56733716270156, + 136.80202123143619, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 136.06733716270156, + 134.20394502008287, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 137.56733716270156, + 131.60586880872955, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 139.06733716270156, + 129.00779259737624, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 140.56733716270156, + 126.40971638602292, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 142.06733716270156, + 123.8116401746696, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 143.56733716270156, + 121.21356396331629, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 145.06733716270156, + 118.61548775196297, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 146.56733716270156, + 116.01741154060966, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 148.06733716270156, + 113.41933532925634, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 149.56733716270156, + 110.82125911790303, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 151.06733716270156, + 108.22318290654971, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 152.56733716270156, + 105.6251066951964, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 154.06733716270156, + 103.02703048384308, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 155.56733716270156, + 100.42895427248976, + -3.6992078335806586 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 155.56733716270156, + 100.42895427248976, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 155.56733716270156, + 97.42895427248976, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 155.56733716270156, + 94.42895427248976, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 155.56733716270156, + 91.42895427248976, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 155.56733716270156, + 88.42895427248976, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 155.56733716270156, + 85.42895427248976, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 155.56733716270156, + 82.42895427248976, + -3.6992078335806586 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 155.56733716270156, + 79.42895427248976, + -3.6992078335806586 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-17-31_76277107/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-17-31_76277107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c016884682e798faac4930f483ddd9c068d27caf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-17-31_76277107/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 565.1520536594261, + -57.45247649703798, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 566.6520536594261, + -54.85440028568466, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 568.1520536594261, + -52.256324074331346, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 569.6520536594261, + -49.65824786297803, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 571.1520536594261, + -47.060171651624714, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 572.6520536594261, + -44.4620954402714, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 574.1520536594261, + -41.86401922891808, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 575.6520536594261, + -39.265943017564766, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 577.1520536594261, + -36.66786680621145, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 578.6520536594261, + -34.069790594858134, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 580.1520536594261, + -31.471714383504818, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 581.6520536594261, + -28.8736381721515, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 583.1520536594261, + -26.275561960798186, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 584.6520536594261, + -23.67748574944487, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 586.1520536594261, + -21.079409538091554, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 587.6520536594261, + -18.481333326738238, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 589.1520536594261, + -15.883257115384922, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 590.6520536594261, + -13.285180904031606, + 0.1964009016257524 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 590.6520536594261, + -13.285180904031606, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 590.6520536594261, + -10.285180904031606, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 590.6520536594261, + -7.285180904031606, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 590.6520536594261, + -4.285180904031606, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 590.6520536594261, + -1.2851809040316056, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 590.6520536594261, + 1.7148190959683944, + 0.1964009016257524 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 590.6520536594261, + 1.7148190959683944, + 0.1964009016257524 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 590.6520536594261, + 1.7148190959683944, + 0.1964009016257524 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 590.6520536594261, + 1.7148190959683944, + 0.1964009016257524 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 590.6520536594261, + 1.7148190959683944, + 0.1964009016257524 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 590.6520536594261, + 1.7148190959683944, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 593.2501298707793, + 0.21481909596839466, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 595.8482060821327, + -1.2851809040316051, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 598.4462822934861, + -2.7851809040316047, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 601.0443585048395, + -4.285180904031605, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 603.6424347161928, + -5.785180904031605, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 606.2405109275462, + -7.285180904031605, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 608.8385871388996, + -8.785180904031604, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 611.436663350253, + -10.285180904031604, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 614.0347395616063, + -11.785180904031604, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 616.6328157729597, + -13.285180904031604, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 619.2308919843131, + -14.785180904031604, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 621.8289681956664, + -16.285180904031602, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982888 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 624.4270444070198, + -17.785180904031602, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 627.0251206183732, + -19.285180904031602, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 629.6231968297266, + -20.785180904031602, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 632.2212730410799, + -22.285180904031602, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 634.8193492524333, + -23.785180904031602, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 637.4174254637867, + -25.285180904031602, + 0.1964009016257524 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 637.4174254637867, + -25.285180904031602, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 638.9174254637867, + -27.883257115384918, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 640.4174254637867, + -30.481333326738234, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 641.9174254637867, + -33.079409538091554, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965983 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 643.4174254637867, + -35.67748574944487, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 644.9174254637867, + -38.275561960798186, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 646.4174254637867, + -40.8736381721515, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 647.9174254637867, + -43.47171438350482, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 649.4174254637867, + -46.069790594858134, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 650.9174254637867, + -48.66786680621145, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 652.4174254637867, + -51.265943017564766, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 653.9174254637867, + -53.86401922891808, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 655.4174254637867, + -56.4620954402714, + 0.1964009016257524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 656.9174254637867, + -59.060171651624714, + 0.1964009016257524 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-18-4_338346092/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-18-4_338346092/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d09370d3f8d91033819b5186273c51489691f53a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-18-4_338346092/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 30.444968696321176, + -678.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 27.84689248496786, + -676.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 25.248816273614544, + -675.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 22.650740062261228, + -673.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 20.052663850907912, + -672.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.454587639554596, + -670.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 14.85651142820128, + -669.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 12.258435216847964, + -667.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 9.660359005494648, + -666.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 7.062282794141332, + -664.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4.464206582788016, + -663.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1.8661303714347, + -661.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -0.7319458399186161, + -660.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -3.330022051271932, + -658.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -5.928098262625248, + -657.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -8.526174473978564, + -655.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -11.12425068533188, + -654.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -13.722326896685196, + -652.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -16.320403108038512, + -651.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -18.918479319391828, + -649.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -21.516555530745144, + -648.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -24.11463174209846, + -646.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -26.712707953451776, + -645.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -29.310784164805092, + -643.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -31.908860376158408, + -642.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -34.506936587511724, + -640.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -37.10501279886504, + -639.2664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -39.703089010218356, + -637.7664414416021, + 3.7603283683412574 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -39.703089010218356, + -637.7664414416021, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -41.203089010218356, + -635.1683652302488, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -42.703089010218356, + -632.5702890188954, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -44.203089010218356, + -629.9722128075421, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -45.703089010218356, + -627.3741365961887, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -47.203089010218356, + -624.7760603848353, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -48.703089010218356, + -622.177984173482, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -50.203089010218356, + -619.5799079621286, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -51.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -51.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -51.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -51.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -51.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -48.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -45.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -42.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -39.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -36.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -33.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -30.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -27.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -27.703089010218356, + -616.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -25.10501279886504, + -615.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -22.506936587511724, + -613.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -19.908860376158408, + -612.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -17.310784164805092, + -610.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -14.712707953451776, + -609.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -12.11463174209846, + -607.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -9.516555530745144, + -606.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -6.918479319391828, + -604.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -4.320403108038512, + -603.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1.7223268966851961, + -601.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 0.8757493146681199, + -600.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 3.473825526021436, + -598.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 6.071901737374752, + -597.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 8.669977948728068, + -595.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 11.268054160081384, + -594.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 13.8661303714347, + -592.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 16.464206582788016, + -591.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 19.062282794141332, + -589.9818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 21.660359005494648, + -588.4818317507752, + 3.7603283683412574 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 21.660359005494648, + -588.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 24.660359005494648, + -588.4818317507752, + 3.7603283683412574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 27.660359005494648, + -588.4818317507752, + 3.7603283683412574 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-19-48_1569115921/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-19-48_1569115921/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fc7af3403dbab69a9318fcdd206f71d9893f2a3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-19-48_1569115921/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1599.3666269440823, + 33.66521567898123, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1596.768550732729, + 32.16521567898123, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1594.1704745213756, + 30.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1591.5723983100222, + 29.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1588.9743220986688, + 27.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1586.3762458873155, + 26.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1583.778169675962, + 24.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1581.1800934646087, + 23.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1578.5820172532553, + 21.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1575.983941041902, + 20.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1573.3858648305486, + 18.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1570.7877886191952, + 17.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1568.1897124078419, + 15.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1565.5916361964885, + 14.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1562.993559985135, + 12.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1560.3954837737817, + 11.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1557.7974075624284, + 9.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1555.199331351075, + 8.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1552.6012551397216, + 6.665215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1550.0031789283682, + 5.165215678981227, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1547.4051027170149, + 3.6652156789812267, + -0.5830911692174547 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1547.4051027170149, + 3.6652156789812267, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1545.9051027170149, + 1.0671394676279107, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1544.4051027170149, + -1.5309367437254053, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1542.9051027170149, + -4.129012955078721, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1541.4051027170149, + -6.727089166432037, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1539.9051027170149, + -9.325165377785353, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1538.4051027170149, + -11.92324158913867, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1536.9051027170149, + -14.521317800491985, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1535.4051027170149, + -17.1193940118453, + -0.5830911692174547 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1535.4051027170149, + -17.1193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1532.8070265056615, + -18.6193940118453, + -0.5830911692174547 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1532.8070265056615, + -18.6193940118453, + -0.5830911692174547 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1532.8070265056615, + -18.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1532.8070265056615, + -21.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1532.8070265056615, + -24.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1532.8070265056615, + -27.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1532.8070265056615, + -30.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1532.8070265056615, + -33.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1532.8070265056615, + -36.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1532.8070265056615, + -39.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1532.8070265056615, + -42.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1532.8070265056615, + -45.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1532.8070265056615, + -48.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1532.8070265056615, + -51.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1532.8070265056615, + -54.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1532.8070265056615, + -57.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1532.8070265056615, + -60.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1532.8070265056615, + -63.6193940118453, + -0.5830911692174547 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1532.8070265056615, + -63.6193940118453, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1531.3070265056615, + -66.21747022319862, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1529.8070265056615, + -68.81554643455193, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1528.3070265056615, + -71.41362264590525, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1526.8070265056615, + -74.01169885725857, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1525.3070265056615, + -76.60977506861188, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1523.8070265056615, + -79.2078512799652, + -0.5830911692174547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1522.3070265056615, + -81.80592749131851, + -0.5830911692174547 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-22-40_312186354/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-22-40_312186354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a71f370b77e57a68bb16b172c48e634f43f710e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-22-40_312186354/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 339.6893554268388, + 155.40292156831148, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 341.1893554268388, + 158.0009977796648, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 342.6893554268388, + 160.59907399101812, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 344.1893554268388, + 163.19715020237143, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 345.6893554268388, + 165.79522641372475, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 347.1893554268388, + 168.39330262507806, + -3.7325540581467833 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 347.1893554268388, + 168.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 349.7874316381921, + 169.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 352.38550784954543, + 171.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 354.98358406089875, + 172.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 357.58166027225207, + 174.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 360.1797364836054, + 175.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 362.7778126949587, + 177.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 365.375888906312, + 178.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 367.97396511766533, + 180.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 370.57204132901865, + 181.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 373.17011754037196, + 183.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 375.7681937517253, + 184.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 378.3662699630786, + 186.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 380.9643461744319, + 187.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 383.5624223857852, + 189.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 386.16049859713854, + 190.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 388.75857480849186, + 192.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 391.3566510198452, + 193.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 393.9547272311985, + 195.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 396.5528034425518, + 196.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 399.1508796539051, + 198.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 401.74895586525844, + 199.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 404.34703207661175, + 201.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 406.94510828796507, + 202.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 409.5431844993184, + 204.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 412.1412607106717, + 205.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 414.739336922025, + 207.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 417.33741313337833, + 208.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 419.93548934473165, + 210.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 422.53356555608497, + 211.89330262507806, + -3.7325540581467833 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 422.53356555608497, + 211.89330262507806, + -3.7325540581467833 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 422.53356555608497, + 211.89330262507806, + -3.7325540581467833 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 422.53356555608497, + 211.89330262507806, + -3.7325540581467833 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 422.53356555608497, + 211.89330262507806, + -3.7325540581467833 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 422.53356555608497, + 211.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 419.93548934473165, + 213.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 417.33741313337833, + 214.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 414.739336922025, + 216.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 412.1412607106717, + 217.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 409.5431844993184, + 219.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 406.94510828796507, + 220.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 404.34703207661175, + 222.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 401.74895586525844, + 223.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 399.1508796539051, + 225.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 396.5528034425518, + 226.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 393.9547272311985, + 228.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 391.3566510198452, + 229.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 388.75857480849186, + 231.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 386.16049859713854, + 232.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 383.5624223857852, + 234.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 380.9643461744319, + 235.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 378.3662699630786, + 237.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 375.7681937517253, + 238.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 373.17011754037196, + 240.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 370.57204132901865, + 241.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 367.97396511766533, + 243.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 365.375888906312, + 244.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 362.7778126949587, + 246.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 360.1797364836054, + 247.89330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 357.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 357.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 354.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 351.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 348.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 345.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 342.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 339.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 336.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 333.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 330.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 327.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 324.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 321.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 318.58166027225207, + 249.39330262507806, + -3.7325540581467833 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-23-16_815774123/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-23-16_815774123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..924401207ad0855db9cd2efe6d14416d26367d3e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-23-16_815774123/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -215.47954466864465, + -356.08754118136324, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -213.97954466864465, + -353.4894649700099, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -212.47954466864465, + -350.8913887586566, + 4.958331496752141 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -212.47954466864465, + -350.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -209.88146845729133, + -349.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -207.28339224593802, + -347.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -204.6853160345847, + -346.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -202.08723982323139, + -344.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -199.48916361187807, + -343.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -196.89108740052475, + -341.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -194.29301118917144, + -340.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -191.69493497781812, + -338.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -189.0968587664648, + -337.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -186.4987825551115, + -335.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -183.90070634375817, + -334.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -181.30263013240486, + -332.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -178.70455392105154, + -331.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -176.10647770969823, + -329.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -173.5084014983449, + -328.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.9103252869916, + -326.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -168.31224907563828, + -325.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -165.71417286428496, + -323.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -163.11609665293165, + -322.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -160.51802044157833, + -320.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -157.919944230225, + -319.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -155.3218680188717, + -317.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -152.72379180751838, + -316.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -150.12571559616507, + -314.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.52763938481175, + -313.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -144.92956317345843, + -311.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -142.33148696210512, + -310.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -139.7334107507518, + -308.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -137.13533453939849, + -307.3913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -134.53725832804517, + -305.8913887586566, + 4.958331496752141 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -134.53725832804517, + -305.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -133.03725832804517, + -303.2933125473033, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -131.53725832804517, + -300.69523633594997, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -130.03725832804517, + -298.09716012459666, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -128.53725832804517, + -295.49908391324334, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -127.03725832804517, + -292.90100770189, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -125.53725832804517, + -290.3029314905367, + 4.958331496752141 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -125.53725832804517, + -290.3029314905367, + 4.958331496752141 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -125.53725832804517, + -290.3029314905367, + 4.958331496752141 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -125.53725832804517, + -290.3029314905367, + 4.958331496752141 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -125.53725832804517, + -290.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -122.93918211669185, + -291.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -120.34110590533854, + -293.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -117.74302969398522, + -294.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -115.1449534826319, + -296.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -112.54687727127859, + -297.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -109.94880105992527, + -299.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -107.35072484857196, + -300.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -104.75264863721864, + -302.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -102.15457242586533, + -303.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -99.55649621451201, + -305.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -96.9584200031587, + -306.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -94.36034379180538, + -308.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -91.76226758045206, + -309.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -89.16419136909875, + -311.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -86.56611515774543, + -312.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -83.96803894639211, + -314.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -81.3699627350388, + -315.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -78.77188652368548, + -317.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -76.17381031233217, + -318.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -73.57573410097885, + -320.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -70.97765788962553, + -321.8029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -68.37958167827222, + -323.3029314905367, + 4.958331496752141 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -68.37958167827222, + -323.3029314905367, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -66.87958167827222, + -325.90100770189, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -65.37958167827222, + -328.49908391324334, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -63.87958167827222, + -331.09716012459666, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -62.37958167827222, + -333.69523633594997, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -60.87958167827222, + -336.2933125473033, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -59.37958167827222, + -338.8913887586566, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -57.87958167827222, + -341.4894649700099, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -56.37958167827222, + -344.08754118136324, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -54.87958167827222, + -346.68561739271655, + 4.958331496752141 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -54.87958167827222, + -346.68561739271655, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -52.2815054669189, + -348.18561739271655, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -49.683429255565585, + -349.68561739271655, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -47.08535304421227, + -351.18561739271655, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -44.48727683285895, + -352.68561739271655, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -41.88920062150564, + -354.18561739271655, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -39.29112441015232, + -355.68561739271655, + 4.958331496752141 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -36.693048198799005, + -357.18561739271655, + 4.958331496752141 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-24-59_1090099484/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-24-59_1090099484/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2ee3e1a9ded51d83be6835d263f0cf56aea268f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-24-59_1090099484/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 25.195939167066285, + 51.45552572529316, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 26.695939167066285, + 54.05360193664647, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 28.195939167066285, + 56.65167814799979, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 29.695939167066285, + 59.249754359353105, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 31.195939167066285, + 61.84783057070642, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 32.695939167066285, + 64.44590678205974, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 34.195939167066285, + 67.04398299341305, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 35.695939167066285, + 69.64205920476637, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.195939167066285, + 72.24013541611968, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 38.695939167066285, + 74.838211627473, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 40.195939167066285, + 77.43628783882632, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 41.695939167066285, + 80.03436405017963, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 43.195939167066285, + 82.63244026153295, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 44.695939167066285, + 85.23051647288626, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 46.195939167066285, + 87.82859268423958, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 47.695939167066285, + 90.4266688955929, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 49.195939167066285, + 93.02474510694621, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 50.695939167066285, + 95.62282131829953, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 52.195939167066285, + 98.22089752965285, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.695939167066285, + 100.81897374100616, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 55.195939167066285, + 103.41704995235948, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 56.695939167066285, + 106.0151261637128, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 58.195939167066285, + 108.61320237506611, + 0.49104789106582203 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 58.195939167066285, + 108.61320237506611, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 58.195939167066285, + 111.61320237506611, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 58.195939167066285, + 114.61320237506611, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 58.195939167066285, + 117.61320237506611, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 58.195939167066285, + 120.61320237506611, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 58.195939167066285, + 123.61320237506611, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.195939167066285, + 126.61320237506611, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 58.195939167066285, + 129.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 58.195939167066285, + 132.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 58.195939167066285, + 135.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 58.195939167066285, + 138.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 58.195939167066285, + 141.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 58.195939167066285, + 144.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 58.195939167066285, + 147.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 58.195939167066285, + 150.61320237506612, + 0.49104789106582203 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 58.195939167066285, + 150.61320237506612, + 0.49104789106582203 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 58.195939167066285, + 150.61320237506612, + 0.49104789106582203 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 58.195939167066285, + 150.61320237506612, + 0.49104789106582203 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 58.195939167066285, + 150.61320237506612, + 0.49104789106582203 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 58.195939167066285, + 150.61320237506612, + 0.49104789106582203 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 58.195939167066285, + 150.61320237506612, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 59.695939167066285, + 148.0151261637128, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 61.195939167066285, + 145.4170499523595, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 62.695939167066285, + 142.81897374100618, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 64.19593916706629, + 140.22089752965286, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 65.69593916706629, + 137.62282131829954, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 67.19593916706629, + 135.02474510694623, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 68.69593916706629, + 132.4266688955929, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 70.19593916706629, + 129.8285926842396, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 71.69593916706629, + 127.23051647288628, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 73.19593916706629, + 124.63244026153296, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 74.69593916706629, + 122.03436405017965, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 76.19593916706629, + 119.43628783882633, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 77.69593916706629, + 116.83821162747302, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 79.19593916706629, + 114.2401354161197, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 80.69593916706629, + 111.64205920476638, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 82.19593916706629, + 109.04398299341307, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 83.69593916706629, + 106.44590678205975, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 85.19593916706629, + 103.84783057070644, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 86.69593916706629, + 101.24975435935312, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 88.19593916706629, + 98.6516781479998, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 89.69593916706629, + 96.05360193664649, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 91.19593916706629, + 93.45552572529317, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 92.69593916706629, + 90.85744951393986, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 94.19593916706629, + 88.25937330258654, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 95.69593916706629, + 85.66129709123322, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 97.19593916706629, + 83.0632208798799, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 98.69593916706629, + 80.46514466852659, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 100.19593916706629, + 77.86706845717327, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 101.69593916706629, + 75.26899224581996, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 103.19593916706629, + 72.67091603446664, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 104.69593916706629, + 70.07283982311333, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 106.19593916706629, + 67.47476361176001, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 107.69593916706629, + 64.8766874004067, + 0.49104789106582203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.19593916706629, + 62.27861118905338, + 0.49104789106582203 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-26-7_1987106312/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-26-7_1987106312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3bdb9ac9cf45db7c1252f6333fa1a7631342bf4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-26-7_1987106312/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 85.0798429471793, + 241.64719899247336, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 83.5798429471793, + 239.04912278112005, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.0798429471793, + 236.45104656976673, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 80.5798429471793, + 233.85297035841342, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 79.0798429471793, + 231.2548941470601, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 77.5798429471793, + 228.65681793570678, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 76.0798429471793, + 226.05874172435347, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 74.5798429471793, + 223.46066551300015, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 73.0798429471793, + 220.86258930164684, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 71.5798429471793, + 218.26451309029352, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 70.0798429471793, + 215.6664368789402, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 68.5798429471793, + 213.0683606675869, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 67.0798429471793, + 210.47028445623357, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 65.5798429471793, + 207.87220824488026, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 64.0798429471793, + 205.27413203352694, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 62.5798429471793, + 202.67605582217362, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 61.0798429471793, + 200.0779796108203, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 59.5798429471793, + 197.479903399467, + -4.829294117572939 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 59.5798429471793, + 197.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 59.5798429471793, + 194.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 59.5798429471793, + 191.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 59.5798429471793, + 188.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 59.5798429471793, + 185.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 59.5798429471793, + 182.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 59.5798429471793, + 179.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 59.5798429471793, + 176.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 59.5798429471793, + 173.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 59.5798429471793, + 170.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 59.5798429471793, + 167.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 59.5798429471793, + 164.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 59.5798429471793, + 161.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 59.5798429471793, + 158.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 59.5798429471793, + 155.479903399467, + -4.829294117572939 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 59.5798429471793, + 155.479903399467, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 61.0798429471793, + 152.88182718811368, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 62.5798429471793, + 150.28375097676036, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 64.0798429471793, + 147.68567476540704, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 65.5798429471793, + 145.08759855405373, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 67.0798429471793, + 142.4895223427004, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 68.5798429471793, + 139.8914461313471, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 70.0798429471793, + 137.29336991999378, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 71.5798429471793, + 134.69529370864046, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 73.0798429471793, + 132.09721749728715, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 74.5798429471793, + 129.49914128593383, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 76.0798429471793, + 126.90106507458052, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 77.5798429471793, + 124.3029888632272, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 79.0798429471793, + 121.70491265187388, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 80.5798429471793, + 119.10683644052057, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 82.0798429471793, + 116.50876022916725, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 83.5798429471793, + 113.91068401781394, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 85.0798429471793, + 111.31260780646062, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 86.5798429471793, + 108.7145315951073, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 88.0798429471793, + 106.11645538375399, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 89.5798429471793, + 103.51837917240067, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 91.0798429471793, + 100.92030296104735, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 92.5798429471793, + 98.32222674969404, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 94.0798429471793, + 95.72415053834072, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 95.5798429471793, + 93.1260743269874, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 97.0798429471793, + 90.52799811563409, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 98.5798429471793, + 87.92992190428077, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 100.0798429471793, + 85.33184569292746, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 101.5798429471793, + 82.73376948157414, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 103.0798429471793, + 80.13569327022083, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 104.5798429471793, + 77.53761705886751, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 106.0798429471793, + 74.9395408475142, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 107.5798429471793, + 72.34146463616088, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 109.0798429471793, + 69.74338842480756, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 110.5798429471793, + 67.14531221345425, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 112.0798429471793, + 64.54723600210093, + -4.829294117572939 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 113.5798429471793, + 61.949159790747615, + -4.829294117572939 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-29-9_695991608/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-29-9_695991608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89403320cf3fef8edd922bb5d7730061cce175b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-29-9_695991608/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1474.921851994709, + 151.76708786175467, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1473.421851994709, + 149.16901165040136, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1471.921851994709, + 146.57093543904804, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1470.421851994709, + 143.97285922769473, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1468.921851994709, + 141.3747830163414, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1467.421851994709, + 138.7767068049881, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1465.921851994709, + 136.17863059363478, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1464.421851994709, + 133.58055438228146, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1462.921851994709, + 130.98247817092815, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1461.421851994709, + 128.38440195957483, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1459.921851994709, + 125.78632574822151, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1458.421851994709, + 123.1882495368682, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1456.921851994709, + 120.59017332551488, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1455.421851994709, + 117.99209711416157, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1453.921851994709, + 115.39402090280825, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1452.421851994709, + 112.79594469145493, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1450.921851994709, + 110.19786848010162, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1449.421851994709, + 107.5997922687483, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1447.921851994709, + 105.00171605739499, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1446.421851994709, + 102.40363984604167, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1444.921851994709, + 99.80556363468835, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1443.421851994709, + 97.20748742333504, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1441.921851994709, + 94.60941121198172, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1440.421851994709, + 92.0113350006284, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1438.921851994709, + 89.41325878927509, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1437.421851994709, + 86.81518257792177, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1435.921851994709, + 84.21710636656846, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1434.421851994709, + 81.61903015521514, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1432.921851994709, + 79.02095394386183, + -0.014150920279419665 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1432.921851994709, + 79.02095394386183, + -0.014150920279419665 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1432.921851994709, + 79.02095394386183, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1434.421851994709, + 76.42287773250851, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1435.921851994709, + 73.8248015211552, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1437.421851994709, + 71.22672530980188, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1438.921851994709, + 68.62864909844856, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1440.421851994709, + 66.03057288709525, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1441.921851994709, + 63.43249667574193, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1443.421851994709, + 60.834420464388614, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1444.921851994709, + 58.2363442530353, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1446.421851994709, + 55.63826804168198, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1447.921851994709, + 53.040191830328666, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1449.421851994709, + 50.44211561897535, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1450.921851994709, + 47.844039407622034, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1452.421851994709, + 45.24596319626872, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1453.921851994709, + 42.6478869849154, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1455.421851994709, + 40.049810773562086, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1456.921851994709, + 37.45173456220877, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1458.421851994709, + 34.853658350855454, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1459.921851994709, + 32.25558213950214, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1461.421851994709, + 29.657505928148822, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1462.921851994709, + 27.059429716795506, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1464.421851994709, + 24.46135350544219, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1465.921851994709, + 21.863277294088874, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1467.421851994709, + 19.265201082735558, + -0.014150920279419665 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1467.421851994709, + 19.265201082735558, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1470.0199282060623, + 17.765201082735558, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1472.6180044174157, + 16.265201082735558, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1475.216080628769, + 14.765201082735558, + -0.014150920279419665 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1477.8141568401225, + 13.265201082735558, + -0.014150920279419665 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-30-51_1907712995/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-30-51_1907712995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6211755a2e3ada0ff2292d5a262a3ecb180501dc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-30-51_1907712995/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 420.76813584416414, + -421.19391659828034, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 422.26813584416414, + -418.595840386927, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 423.76813584416414, + -415.9977641755737, + -2.7170985217288766 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 423.76813584416414, + -415.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 426.36621205551745, + -414.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 428.96428826687077, + -412.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 431.5623644782241, + -411.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 434.1604406895774, + -409.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 436.7585169009307, + -408.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 439.35659311228403, + -406.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 441.95466932363735, + -405.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 444.55274553499066, + -403.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 447.150821746344, + -402.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 449.7488979576973, + -400.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 452.3469741690506, + -399.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 454.9450503804039, + -397.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 457.54312659175724, + -396.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 460.14120280311056, + -394.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 462.7392790144639, + -393.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 465.3373552258172, + -391.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 467.9354314371705, + -390.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 470.5335076485238, + -388.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 473.13158385987714, + -387.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 475.72966007123046, + -385.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 478.32773628258377, + -384.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 480.9258124939371, + -382.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 483.5238887052904, + -381.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 486.1219649166437, + -379.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 488.72004112799704, + -378.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 491.31811733935035, + -376.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 493.91619355070367, + -375.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 496.514269762057, + -373.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 499.1123459734103, + -372.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 501.7104221847636, + -370.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 504.30849839611693, + -369.4977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 506.90657460747025, + -367.9977641755737, + -2.7170985217288766 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 506.90657460747025, + -367.9977641755737, + -2.7170985217288766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 506.90657460747025, + -367.9977641755737, + -2.7170985217288766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 506.90657460747025, + -367.9977641755737, + -2.7170985217288766 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 506.90657460747025, + -367.9977641755737, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 505.40657460747025, + -365.3996879642204, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 503.90657460747025, + -362.8016117528671, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 502.40657460747025, + -360.20353554151376, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 500.90657460747025, + -357.60545933016044, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 499.40657460747025, + -355.0073831188071, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 497.90657460747025, + -352.4093069074538, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 496.40657460747025, + -349.8112306961005, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 494.90657460747025, + -347.2131544847472, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 493.40657460747025, + -344.61507827339386, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 491.90657460747025, + -342.01700206204055, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 490.40657460747025, + -339.41892585068723, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 488.90657460747025, + -336.8208496393339, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 487.40657460747025, + -334.2227734279806, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 485.90657460747025, + -331.6246972166273, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 484.40657460747025, + -329.02662100527397, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 482.90657460747025, + -326.42854479392065, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 481.40657460747025, + -323.83046858256733, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 479.90657460747025, + -321.232392371214, + -2.7170985217288766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 478.40657460747025, + -318.6343161598607, + -2.7170985217288766 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-31-29_1947867422/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-31-29_1947867422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a40dd354f0a5e6f28075668502d15bf35c36372 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-31-29_1947867422/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -442.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -439.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -436.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -433.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -430.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -427.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -424.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -421.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -418.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -415.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -412.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -409.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -406.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -403.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -400.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -397.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -394.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -391.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -388.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -385.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -382.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -379.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -379.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -379.4548736996164, + -125.50904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -377.9548736996164, + -122.91097195525347, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -376.4548736996164, + -120.31289574390016, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -374.9548736996164, + -117.71481953254684, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -373.4548736996164, + -115.11674332119352, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -371.9548736996164, + -112.51866710984021, + 4.314985047628582 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -371.9548736996164, + -112.51866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -369.3567974882631, + -111.01866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -366.7587212769098, + -109.51866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -364.1606450655565, + -108.01866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -361.56256885420316, + -106.51866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -358.96449264284985, + -105.01866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -356.36641643149653, + -103.51866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -353.7683402201432, + -102.01866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -351.1702640087899, + -100.51866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -348.5721877974366, + -99.01866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -345.97411158608327, + -97.51866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -343.37603537472995, + -96.01866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -340.77795916337664, + -94.51866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -338.1798829520233, + -93.01866710984021, + 4.314985047628582 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -338.1798829520233, + -93.01866710984021, + 4.314985047628582 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -338.1798829520233, + -93.01866710984021, + 4.314985047628582 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -338.1798829520233, + -93.01866710984021, + 4.314985047628582 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -338.1798829520233, + -93.01866710984021, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -336.6798829520233, + -95.61674332119352, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -335.1798829520233, + -98.21481953254684, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -333.6798829520233, + -100.81289574390016, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -332.1798829520233, + -103.41097195525347, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -330.6798829520233, + -106.00904816660679, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -329.1798829520233, + -108.6071243779601, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -327.6798829520233, + -111.20520058931342, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -326.1798829520233, + -113.80327680066674, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -324.6798829520233, + -116.40135301202005, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -323.1798829520233, + -118.99942922337337, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -321.6798829520233, + -121.59750543472668, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -320.1798829520233, + -124.19558164608, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -318.6798829520233, + -126.79365785743332, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -317.1798829520233, + -129.39173406878663, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -315.6798829520233, + -131.98981028013995, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -314.1798829520233, + -134.58788649149326, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -312.6798829520233, + -137.18596270284658, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -311.1798829520233, + -139.7840389141999, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -309.6798829520233, + -142.3821151255532, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -308.1798829520233, + -144.98019133690653, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -306.6798829520233, + -147.57826754825984, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -305.1798829520233, + -150.17634375961316, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -303.6798829520233, + -152.77441997096648, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -302.1798829520233, + -155.3724961823198, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -300.6798829520233, + -157.9705723936731, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -299.1798829520233, + -160.56864860502643, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -297.6798829520233, + -163.16672481637974, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -296.1798829520233, + -165.76480102773306, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -294.6798829520233, + -168.36287723908637, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -293.1798829520233, + -170.9609534504397, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -291.6798829520233, + -173.559029661793, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -290.1798829520233, + -176.15710587314632, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -288.6798829520233, + -178.75518208449964, + 4.314985047628582 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -288.6798829520233, + -178.75518208449964, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -286.08180674067, + -180.25518208449964, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -283.4837305293167, + -181.75518208449964, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -280.8856543179634, + -183.25518208449964, + 4.314985047628582 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -278.28757810661006, + -184.75518208449964, + 4.314985047628582 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-32-46_1047196295/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-32-46_1047196295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8256d7ebfcc12017b28687688f80d9f8111e85a6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-32-46_1047196295/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.71766830046974, + -776.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 58.11959208911642, + -775.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 55.52151587776311, + -773.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 52.92343966640979, + -772.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 50.325363455056475, + -770.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 47.72728724370316, + -769.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.12921103234984, + -767.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 42.53113482099653, + -766.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 39.93305860964321, + -764.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 37.334982398289895, + -763.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 34.73690618693658, + -761.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 32.13882997558326, + -760.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 29.540753764229947, + -758.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 26.94267755287663, + -757.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 24.344601341523315, + -755.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 21.74652513017, + -754.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 19.148448918816683, + -752.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 16.550372707463367, + -751.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 13.952296496110051, + -749.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 11.354220284756735, + -748.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 8.75614407340342, + -746.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 6.158067862050103, + -745.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3.5599916506967872, + -743.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.9619154393434712, + -742.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1.6361607720098448, + -740.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -4.234236983363161, + -739.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.832313194716477, + -737.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -9.430389406069793, + -736.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -12.028465617423109, + -734.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -14.626541828776425, + -733.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -17.22461804012974, + -731.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -19.822694251483057, + -730.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -22.420770462836373, + -728.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -25.01884667418969, + -727.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -27.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -27.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -27.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -27.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -27.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -27.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -27.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -24.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -21.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -18.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -15.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -12.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -9.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -6.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -3.616922885543005, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -0.6169228855430049, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2.383077114456995, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 5.383077114456995, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 8.383077114456995, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 11.383077114456995, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 14.383077114456995, + -725.9812639059786, + -2.55986123148526 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 14.383077114456995, + -725.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 16.98115332581031, + -724.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 19.579229537163627, + -722.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 22.177305748516943, + -721.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 24.77538195987026, + -719.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 27.373458171223575, + -718.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 29.97153438257689, + -716.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 32.56961059393021, + -715.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 35.16768680528352, + -713.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 37.76576301663684, + -712.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 40.363839227990155, + -710.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 42.96191543934347, + -709.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 45.55999165069679, + -707.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 48.1580678620501, + -706.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 50.75614407340342, + -704.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 53.354220284756735, + -703.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 55.95229649611005, + -701.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 58.55037270746337, + -700.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 61.14844891881668, + -698.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 63.74652513017, + -697.4812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 66.34460134152332, + -695.9812639059786, + -2.55986123148526 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 66.34460134152332, + -695.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 69.34460134152332, + -695.9812639059786, + -2.55986123148526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 72.34460134152332, + -695.9812639059786, + -2.55986123148526 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-34-0_1199680559/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-34-0_1199680559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a97e9eae661cec1172e7c005a46c870434f514e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-34-0_1199680559/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1349.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1352.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1355.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1358.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1361.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1364.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1367.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1370.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1373.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1376.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1376.0594919038215, + -114.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1378.6575681151749, + -113.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1381.2556443265282, + -111.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1383.8537205378816, + -110.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1386.451796749235, + -108.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1389.0498729605883, + -107.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1391.6479491719417, + -105.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1394.246025383295, + -104.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1396.8441015946485, + -102.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1399.4421778060018, + -101.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1402.0402540173552, + -99.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1404.6383302287086, + -98.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1407.236406440062, + -96.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1409.8344826514153, + -95.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1412.4325588627687, + -93.81623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1415.030635074122, + -92.31623396330619, + -3.6488599400828283 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1415.030635074122, + -92.31623396330619, + -3.6488599400828283 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1415.030635074122, + -92.31623396330619, + -3.6488599400828283 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1415.030635074122, + -92.31623396330619, + -3.6488599400828283 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1415.030635074122, + -92.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1415.030635074122, + -95.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1415.030635074122, + -98.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1415.030635074122, + -101.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1415.030635074122, + -104.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1415.030635074122, + -107.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1415.030635074122, + -110.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1415.030635074122, + -113.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1415.030635074122, + -116.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1415.030635074122, + -119.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1415.030635074122, + -122.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1415.030635074122, + -125.31623396330619, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1415.030635074122, + -128.3162339633062, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1415.030635074122, + -131.3162339633062, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1415.030635074122, + -134.3162339633062, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1415.030635074122, + -137.3162339633062, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1415.030635074122, + -140.3162339633062, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1415.030635074122, + -143.3162339633062, + -3.6488599400828283 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1415.030635074122, + -143.3162339633062, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1416.530635074122, + -145.9143101746595, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1418.030635074122, + -148.51238638601282, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1419.530635074122, + -151.11046259736614, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1421.030635074122, + -153.70853880871945, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1422.530635074122, + -156.30661502007277, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1424.030635074122, + -158.90469123142609, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1425.530635074122, + -161.5027674427794, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1427.030635074122, + -164.10084365413272, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1428.530635074122, + -166.69891986548603, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1430.030635074122, + -169.29699607683935, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1431.530635074122, + -171.89507228819267, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1433.030635074122, + -174.49314849954598, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1434.530635074122, + -177.0912247108993, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1436.030635074122, + -179.6893009222526, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1437.530635074122, + -182.28737713360593, + -3.6488599400828283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1439.030635074122, + -184.88545334495925, + -3.6488599400828283 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-36-41_1590105340/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-36-41_1590105340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..752caf990bc8f0234f1d840aacb1eb88024f32a5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-36-41_1590105340/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1339.8229455065155, + -109.29022171488617, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1341.3229455065155, + -111.88829792623949, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1342.8229455065155, + -114.4863741375928, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1344.3229455065155, + -117.08445034894612, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1345.8229455065155, + -119.68252656029944, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1347.3229455065155, + -122.28060277165275, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1348.8229455065155, + -124.87867898300607, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1350.3229455065155, + -127.47675519435938, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1351.8229455065155, + -130.0748314057127, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1353.3229455065155, + -132.67290761706602, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1354.8229455065155, + -135.27098382841933, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1356.3229455065155, + -137.86906003977265, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1357.8229455065155, + -140.46713625112596, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1359.3229455065155, + -143.06521246247928, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1360.8229455065155, + -145.6632886738326, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1362.3229455065155, + -148.2613648851859, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1363.8229455065155, + -150.85944109653923, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1365.3229455065155, + -153.45751730789254, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1366.8229455065155, + -156.05559351924586, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1368.3229455065155, + -158.65366973059918, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1369.8229455065155, + -161.2517459419525, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1371.3229455065155, + -163.8498221533058, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1372.8229455065155, + -166.44789836465912, + -0.6993696150787105 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1372.8229455065155, + -166.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1372.8229455065155, + -169.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1372.8229455065155, + -172.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1372.8229455065155, + -175.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1372.8229455065155, + -178.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1372.8229455065155, + -181.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1372.8229455065155, + -184.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1372.8229455065155, + -187.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1372.8229455065155, + -190.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1372.8229455065155, + -193.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1372.8229455065155, + -196.44789836465912, + -0.6993696150787105 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1372.8229455065155, + -196.44789836465912, + -0.6993696150787105 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1372.8229455065155, + -196.44789836465912, + -0.6993696150787105 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1372.8229455065155, + -196.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1370.224869295162, + -197.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1367.6267930838087, + -199.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1365.0287168724553, + -200.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1362.430640661102, + -202.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1359.8325644497486, + -203.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1357.2344882383952, + -205.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1354.6364120270418, + -206.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1352.0383358156885, + -208.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1349.440259604335, + -209.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1346.8421833929817, + -211.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1344.2441071816284, + -212.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1341.646030970275, + -214.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1339.0479547589216, + -215.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1336.4498785475682, + -217.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1333.8518023362149, + -218.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1331.2537261248615, + -220.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1328.6556499135081, + -221.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1326.0575737021547, + -223.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1323.4594974908014, + -224.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1320.861421279448, + -226.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1318.2633450680946, + -227.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1315.6652688567412, + -229.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1313.0671926453879, + -230.94789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1310.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1310.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1307.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1304.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1301.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1298.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1295.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1292.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1289.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1286.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1283.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1280.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1277.4691164340345, + -232.44789836465912, + -0.6993696150787105 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-38-30_1198720172/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-38-30_1198720172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8fa0db25494cba39d2379f36eb3e56955393b68 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-38-30_1198720172/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -304.68659162359234, + -107.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -301.68659162359234, + -107.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -298.68659162359234, + -107.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -295.68659162359234, + -107.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -292.68659162359234, + -107.03577289807411, + -3.7228347361358427 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -292.68659162359234, + -107.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -290.088515412239, + -108.53577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -287.4904392008857, + -110.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -284.8923629895324, + -111.53577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -282.29428677817907, + -113.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -279.69621056682575, + -114.53577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -277.09813435547244, + -116.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -274.5000581441191, + -117.53577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -271.9019819327658, + -119.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -269.3039057214125, + -120.53577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -266.7058295100592, + -122.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -264.10775329870586, + -123.53577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -261.50967708735254, + -125.03577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -258.9116008759992, + -126.53577289807411, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -256.3135246646459, + -128.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982947 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -253.7154484532926, + -129.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -251.11737224193928, + -131.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -248.51929603058596, + -132.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -245.92121981923265, + -134.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -243.32314360787933, + -135.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -240.72506739652601, + -137.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -238.1269911851727, + -138.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -235.52891497381938, + -140.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -232.93083876246607, + -141.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -230.33276255111275, + -143.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -227.73468633975943, + -144.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -225.13661012840612, + -146.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -222.5385339170528, + -147.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -219.9404577056995, + -149.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -217.34238149434617, + -150.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -214.74430528299285, + -152.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -212.14622907163954, + -153.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -209.54815286028622, + -155.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -206.9500766489329, + -156.5357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.3520004375796, + -158.0357728980741, + -3.7228347361358427 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -204.3520004375796, + -158.0357728980741, + -3.7228347361358427 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -204.3520004375796, + -158.0357728980741, + -3.7228347361358427 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -204.3520004375796, + -158.0357728980741, + -3.7228347361358427 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -204.3520004375796, + -158.0357728980741, + -3.7228347361358427 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -204.3520004375796, + -158.0357728980741, + -3.7228347361358427 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -204.3520004375796, + -158.0357728980741, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -205.8520004375796, + -155.43769668672078, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -207.3520004375796, + -152.83962047536747, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -208.8520004375796, + -150.24154426401415, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -210.3520004375796, + -147.64346805266084, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -211.8520004375796, + -145.04539184130752, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -213.3520004375796, + -142.4473156299542, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -214.8520004375796, + -139.8492394186009, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -216.3520004375796, + -137.25116320724757, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -217.8520004375796, + -134.65308699589426, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -219.3520004375796, + -132.05501078454094, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -220.8520004375796, + -129.45693457318762, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -222.3520004375796, + -126.85885836183431, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -223.8520004375796, + -124.26078215048099, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -225.3520004375796, + -121.66270593912768, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -226.8520004375796, + -119.06462972777436, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -228.3520004375796, + -116.46655351642104, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -229.8520004375796, + -113.86847730506773, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -231.3520004375796, + -111.27040109371441, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -232.8520004375796, + -108.6723248823611, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -234.3520004375796, + -106.07424867100778, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -235.8520004375796, + -103.47617245965446, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -237.3520004375796, + -100.87809624830115, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -238.8520004375796, + -98.28002003694783, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -240.3520004375796, + -95.68194382559452, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -241.8520004375796, + -93.0838676142412, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -243.3520004375796, + -90.48579140288788, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -244.8520004375796, + -87.88771519153457, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -246.3520004375796, + -85.28963898018125, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -247.8520004375796, + -82.69156276882794, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -249.3520004375796, + -80.09348655747462, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -250.8520004375796, + -77.4954103461213, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -252.3520004375796, + -74.89733413476799, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -253.8520004375796, + -72.29925792341467, + -3.7228347361358427 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -253.8520004375796, + -72.29925792341467, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -253.8520004375796, + -69.29925792341467, + -3.7228347361358427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -253.8520004375796, + -66.29925792341467, + -3.7228347361358427 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-39-7_1805613091/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-39-7_1805613091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4af0c252a06900a32af77167c8a28ea9fe8ce96 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-39-7_1805613091/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 950.0270775006667, + -473.13665391367306, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 948.5270775006667, + -470.53857770231974, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 947.0270775006667, + -467.9405014909664, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 945.5270775006667, + -465.3424252796131, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 944.0270775006667, + -462.7443490682598, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 942.5270775006667, + -460.1462728569065, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 941.0270775006667, + -457.54819664555316, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 939.5270775006667, + -454.95012043419985, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 938.0270775006667, + -452.35204422284653, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 936.5270775006667, + -449.7539680114932, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 935.0270775006667, + -447.1558918001399, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 933.5270775006667, + -444.5578155887866, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 932.0270775006667, + -441.95973937743327, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 930.5270775006667, + -439.36166316607995, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 929.0270775006667, + -436.76358695472663, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 927.5270775006667, + -434.1655107433733, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 926.0270775006667, + -431.56743453202, + -2.049713593711389 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 926.0270775006667, + -431.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 923.4290012893134, + -430.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 920.83092507796, + -428.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 918.2328488666067, + -427.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 915.6347726552533, + -425.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 913.0366964438999, + -424.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 910.4386202325466, + -422.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 907.8405440211932, + -421.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 905.2424678098398, + -419.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 902.6443915984864, + -418.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 900.0463153871331, + -416.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 897.4482391757797, + -415.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 894.8501629644263, + -413.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 892.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 892.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 892.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 892.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 892.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 892.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 892.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 895.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 898.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 901.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 904.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 904.252086753073, + -412.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 906.8501629644263, + -410.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 909.4482391757797, + -409.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 912.0463153871331, + -407.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 914.6443915984864, + -406.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 917.2424678098398, + -404.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 919.8405440211932, + -403.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 922.4386202325466, + -401.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 925.0366964438999, + -400.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 927.6347726552533, + -398.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 930.2328488666067, + -397.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 932.83092507796, + -395.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 935.4290012893134, + -394.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 938.0270775006668, + -392.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 940.6251537120202, + -391.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 943.2232299233735, + -389.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 945.8213061347269, + -388.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 948.4193823460803, + -386.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 951.0174585574337, + -385.06743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 953.615534768787, + -383.56743453202, + -2.049713593711389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 956.2136109801404, + -382.06743453202, + -2.049713593711389 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-40-13_1510906527/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-40-13_1510906527/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5e2283d5f6af1faa5f48e5f1f7bfa70f1d093ac --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-40-13_1510906527/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 78.23108367735622, + -455.2933650611194, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 79.73108367735622, + -457.8914412724727, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.23108367735622, + -460.48951748382603, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 82.73108367735622, + -463.08759369517935, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 84.23108367735622, + -465.68566990653267, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 85.73108367735622, + -468.283746117886, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 87.23108367735622, + -470.8818223292393, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.73108367735622, + -473.4798985405926, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 90.23108367735622, + -476.07797475194593, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 91.73108367735622, + -478.67605096329925, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 93.23108367735622, + -481.27412717465256, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.73108367735622, + -483.8722033860059, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 96.23108367735622, + -486.4702795973592, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 97.73108367735622, + -489.0683558087125, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 99.23108367735622, + -491.6664320200658, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 100.73108367735622, + -494.26450823141914, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.23108367735622, + -496.86258444277246, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 103.73108367735622, + -499.4606606541258, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 105.23108367735622, + -502.0587368654791, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 106.73108367735622, + -504.6568130768324, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 108.23108367735622, + -507.2548892881857, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 109.73108367735622, + -509.85296549953904, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 111.23108367735622, + -512.4510417108924, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 112.73108367735622, + -515.0491179222456, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 114.23108367735622, + -517.647194133599, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 115.73108367735622, + -520.2452703449524, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 117.23108367735622, + -522.8433465563057, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 118.73108367735622, + -525.4414227676591, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 120.23108367735622, + -528.0394989790125, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 121.73108367735622, + -530.6375751903659, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 123.23108367735622, + -533.2356514017192, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 124.73108367735622, + -535.8337276130726, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 126.23108367735622, + -538.431803824426, + -1.699273446655015 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 126.23108367735622, + -538.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 126.23108367735622, + -541.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 126.23108367735622, + -544.431803824426, + -1.699273446655015 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 126.23108367735622, + -544.431803824426, + -1.699273446655015 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 126.23108367735622, + -544.431803824426, + -1.699273446655015 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 126.23108367735622, + -544.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 123.63300746600291, + -545.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 121.03493125464959, + -547.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 118.43685504329628, + -548.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 115.83877883194296, + -550.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 113.24070262058964, + -551.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 110.64262640923633, + -553.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 108.04455019788301, + -554.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 105.4464739865297, + -556.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 102.84839777517638, + -557.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 100.25032156382306, + -559.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 97.65224535246975, + -560.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 95.05416914111643, + -562.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 92.45609292976312, + -563.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 89.8580167184098, + -565.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 87.25994050705648, + -566.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 84.66186429570317, + -568.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 82.06378808434985, + -569.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 79.46571187299654, + -571.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 76.86763566164322, + -572.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 74.2695594502899, + -574.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 71.67148323893659, + -575.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 69.07340702758327, + -577.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 66.47533081622996, + -578.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 63.87725460487664, + -580.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 61.279178393523324, + -581.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 58.68110218217001, + -583.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 56.08302597081669, + -584.931803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 53.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 53.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 50.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 47.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 44.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 41.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 38.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 35.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 32.484949759463376, + -586.431803824426, + -1.699273446655015 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-42-2_94255812/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-42-2_94255812/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..031bdaae916c3d9597a1e7fa391fe936f4d63f9b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-42-2_94255812/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 966.3379961704197, + -265.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 966.3379961704197, + -268.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 966.3379961704197, + -271.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 966.3379961704197, + -274.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 966.3379961704197, + -277.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 966.3379961704197, + -280.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 966.3379961704197, + -283.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 966.3379961704197, + -286.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 966.3379961704197, + -289.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 966.3379961704197, + -292.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 966.3379961704197, + -295.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 966.3379961704197, + -298.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 966.3379961704197, + -301.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 966.3379961704197, + -304.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 966.3379961704197, + -307.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 966.3379961704197, + -310.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 966.3379961704197, + -313.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 966.3379961704197, + -316.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 966.3379961704197, + -319.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 966.3379961704197, + -322.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 966.3379961704197, + -325.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 966.3379961704197, + -328.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 966.3379961704197, + -331.96105544254027, + -1.4111368820092758 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 966.3379961704197, + -331.96105544254027, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 967.8379961704197, + -334.5591316538936, + -1.4111368820092758 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 967.8379961704197, + -334.5591316538936, + -1.4111368820092758 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 967.8379961704197, + -334.5591316538936, + -1.4111368820092758 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 967.8379961704197, + -334.5591316538936, + -1.4111368820092758 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 967.8379961704197, + -334.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 965.2399199590664, + -336.0591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 962.641843747713, + -337.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 960.0437675363596, + -339.0591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 957.4456913250062, + -340.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 954.8476151136529, + -342.0591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 952.2495389022995, + -343.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 949.6514626909461, + -345.0591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 947.0533864795927, + -346.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 944.4553102682394, + -348.0591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 941.857234056886, + -349.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 939.2591578455326, + -351.0591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 936.6610816341793, + -352.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 934.0630054228259, + -354.0591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 931.4649292114725, + -355.5591316538936, + -1.4111368820092758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 928.8668530001191, + -357.0591316538936, + -1.4111368820092758 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-44-0_2081362124/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-44-0_2081362124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..932907339b1a8c70acd9eaf613ef3bf0446994b1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-44-0_2081362124/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -194.3793076439471, + -530.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -194.3793076439471, + -527.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -194.3793076439471, + -524.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -194.3793076439471, + -521.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.3793076439471, + -518.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.3793076439471, + -515.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -194.3793076439471, + -512.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -194.3793076439471, + -509.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -194.3793076439471, + -506.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.3793076439471, + -503.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -194.3793076439471, + -500.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -194.3793076439471, + -497.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -194.3793076439471, + -494.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -194.3793076439471, + -491.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.3793076439471, + -488.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -194.3793076439471, + -485.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -194.3793076439471, + -482.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -194.3793076439471, + -479.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -194.3793076439471, + -476.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -194.3793076439471, + -473.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -194.3793076439471, + -470.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -194.3793076439471, + -467.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -194.3793076439471, + -464.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -194.3793076439471, + -461.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -194.3793076439471, + -458.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -194.3793076439471, + -455.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -194.3793076439471, + -452.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -194.3793076439471, + -449.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -194.3793076439471, + -446.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -194.3793076439471, + -443.1888075705572, + 0.982979713151634 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -194.3793076439471, + -443.1888075705572, + 0.982979713151634 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -194.3793076439471, + -443.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -196.97738385530042, + -441.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -199.57546006665373, + -440.1888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -202.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -202.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -202.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -202.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -202.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -202.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -202.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -199.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -196.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -193.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -190.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -187.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -184.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -184.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -184.17353627800705, + -438.6888075705572, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -182.67353627800705, + -436.09073135920386, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -181.17353627800705, + -433.49265514785054, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -179.67353627800705, + -430.8945789364972, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -178.17353627800705, + -428.2965027251439, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -176.67353627800705, + -425.6984265137906, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -175.17353627800705, + -423.1003503024373, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -173.67353627800705, + -420.50227409108396, + 0.982979713151634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -173.67353627800705, + -420.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -171.07546006665373, + -419.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -168.47738385530042, + -417.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -165.8793076439471, + -416.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -163.28123143259378, + -414.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -160.68315522124047, + -413.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -158.08507900988715, + -411.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -155.48700279853384, + -410.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -152.88892658718052, + -408.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -150.2908503758272, + -407.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -147.6927741644739, + -405.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -145.09469795312057, + -404.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -142.49662174176726, + -402.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -139.89854553041394, + -401.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -137.30046931906062, + -399.50227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -134.7023931077073, + -398.00227409108396, + 0.982979713151634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -132.104316896354, + -396.50227409108396, + 0.982979713151634 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-47-20_775056794/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-47-20_775056794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b85983b8641950b2473a7d6de8a0a172960ae54a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-47-20_775056794/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1095.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1092.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1089.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1086.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1083.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1080.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1077.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1074.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1071.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1068.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1065.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1062.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1059.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1056.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1053.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1050.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1047.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1044.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1041.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1041.2868218651995, + -277.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1038.6887456538461, + -276.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1036.0906694424928, + -274.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1033.4925932311394, + -273.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1030.894517019786, + -271.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1028.2964408084326, + -270.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1025.6983645970793, + -268.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1023.1002883857259, + -267.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1020.5022121743725, + -265.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1017.9041359630191, + -264.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1015.3060597516658, + -262.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1012.7079835403124, + -261.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1010.109907328959, + -259.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1007.5118311176057, + -258.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1004.9137549062523, + -256.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1002.3156786948989, + -255.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 999.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 999.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 999.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 999.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 999.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 999.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 999.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1002.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1005.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1008.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1011.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1014.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1017.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1017.7176024835455, + -253.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1020.3156786948989, + -252.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1022.9137549062523, + -250.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1025.5118311176057, + -249.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1028.109907328959, + -247.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1030.7079835403124, + -246.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1033.3060597516658, + -244.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1035.9041359630191, + -243.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1038.5022121743725, + -241.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1041.100288385726, + -240.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1043.6983645970793, + -238.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1046.2964408084326, + -237.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1048.894517019786, + -235.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1051.4925932311394, + -234.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1054.0906694424928, + -232.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1056.6887456538461, + -231.3963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1059.2868218651995, + -229.8963624194247, + 1.499090095187925 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1059.2868218651995, + -229.8963624194247, + 1.499090095187925 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1062.2868218651995, + -229.8963624194247, + 1.499090095187925 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-49-46_1389079342/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-49-46_1389079342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d08aff1a1aeb16c81a4737bf0fb329dc3139835a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-49-46_1389079342/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -221.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -224.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -227.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -230.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -233.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -236.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -239.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -242.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -245.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -248.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -251.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -254.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -257.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -260.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -263.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -266.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -269.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -272.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -275.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -278.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -281.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -284.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -287.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -290.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -293.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -296.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -299.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -302.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -305.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -308.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -311.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -314.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -317.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -320.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -323.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -323.28654477329087, + -82.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -325.8846209846442, + -84.25130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -328.4826971959975, + -85.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -331.0807734073508, + -87.25130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -333.67884961870413, + -88.75130372022268, + -3.9600253136042562 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -333.67884961870413, + -88.75130372022268, + -3.9600253136042562 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -333.67884961870413, + -88.75130372022268, + -3.9600253136042562 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -333.67884961870413, + -88.75130372022268, + -3.9600253136042562 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -333.67884961870413, + -88.75130372022268, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -332.17884961870413, + -91.349379931576, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -330.67884961870413, + -93.94745614292931, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -329.17884961870413, + -96.54553235428263, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -327.67884961870413, + -99.14360856563594, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -326.17884961870413, + -101.74168477698926, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -324.67884961870413, + -104.33976098834258, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -323.17884961870413, + -106.93783719969589, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -321.67884961870413, + -109.53591341104921, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -320.17884961870413, + -112.13398962240252, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -318.67884961870413, + -114.73206583375584, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -317.17884961870413, + -117.33014204510916, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -315.67884961870413, + -119.92821825646247, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -314.17884961870413, + -122.52629446781579, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -312.67884961870413, + -125.1243706791691, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -311.17884961870413, + -127.72244689052242, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -309.67884961870413, + -130.32052310187572, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965954 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -308.17884961870413, + -132.91859931322904, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -306.67884961870413, + -135.51667552458235, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -305.17884961870413, + -138.11475173593567, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -303.67884961870413, + -140.71282794728899, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -302.17884961870413, + -143.3109041586423, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -300.67884961870413, + -145.90898036999562, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -299.17884961870413, + -148.50705658134893, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -297.67884961870413, + -151.10513279270225, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -296.17884961870413, + -153.70320900405557, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -294.67884961870413, + -156.30128521540888, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -293.17884961870413, + -158.8993614267622, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -291.67884961870413, + -161.4974376381155, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -290.17884961870413, + -164.09551384946883, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -288.67884961870413, + -166.69359006082215, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -287.17884961870413, + -169.29166627217546, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -285.67884961870413, + -171.88974248352878, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -284.17884961870413, + -174.4878186948821, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -282.67884961870413, + -177.0858949062354, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -281.17884961870413, + -179.68397111758873, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -279.67884961870413, + -182.28204732894204, + -3.9600253136042562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -278.17884961870413, + -184.88012354029536, + -3.9600253136042562 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-53-17_844169939/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-53-17_844169939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84819761816cce03a41cfd0c12bdbda637e9b1ba --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-53-17_844169939/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -72.93554721778577, + -15.938485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -70.33747100643245, + -17.438485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -67.73939479507914, + -18.938485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -65.14131858372582, + -20.438485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -62.543242372372504, + -21.938485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -59.94516616101919, + -23.438485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -57.34708994966587, + -24.938485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -54.749013738312556, + -26.438485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -52.15093752695924, + -27.938485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -49.552861315605924, + -29.438485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -46.95478510425261, + -30.938485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -44.35670889289929, + -32.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -41.758632681545976, + -33.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -39.16055647019266, + -35.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -36.562480258839344, + -36.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -33.96440404748603, + -38.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -31.36632783613271, + -39.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -28.768251624779396, + -41.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -26.17017541342608, + -42.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -23.572099202072764, + -44.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -20.974022990719448, + -45.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -18.37594677936613, + -47.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -15.777870568012816, + -48.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -13.1797943566595, + -50.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -10.581718145306183, + -51.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -7.9836419339528675, + -53.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -5.3855657225995515, + -54.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2.7874895112462355, + -56.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -0.18941329989291944, + -57.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2.4086629114603966, + -59.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 5.006739122813713, + -60.93848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 7.604815334167029, + -62.43848561388113, + 4.917211034784705 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 7.604815334167029, + -62.43848561388113, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 9.104815334167029, + -65.03656182523444, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 10.604815334167029, + -67.63463803658776, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 12.104815334167029, + -70.23271424794108, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 13.604815334167029, + -72.83079045929439, + 4.917211034784705 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 13.604815334167029, + -72.83079045929439, + 4.917211034784705 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 13.604815334167029, + -72.83079045929439, + 4.917211034784705 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 13.604815334167029, + -72.83079045929439, + 4.917211034784705 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 13.604815334167029, + -72.83079045929439, + 4.917211034784705 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 13.604815334167029, + -72.83079045929439, + 4.917211034784705 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 13.604815334167029, + -72.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 13.604815334167029, + -69.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 13.604815334167029, + -66.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 13.604815334167029, + -63.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 13.604815334167029, + -60.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 13.604815334167029, + -57.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 13.604815334167029, + -54.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 13.604815334167029, + -51.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 13.604815334167029, + -48.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 13.604815334167029, + -45.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 13.604815334167029, + -42.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 13.604815334167029, + -39.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 13.604815334167029, + -36.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 13.604815334167029, + -33.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 13.604815334167029, + -30.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 13.604815334167029, + -27.83079045929439, + 4.917211034784705 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 13.604815334167029, + -27.83079045929439, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 15.104815334167029, + -25.232714247941075, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 16.60481533416703, + -22.63463803658776, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 18.10481533416703, + -20.036561825234443, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 19.60481533416703, + -17.438485613881127, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 21.10481533416703, + -14.840409402527811, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 22.60481533416703, + -12.242333191174495, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 24.10481533416703, + -9.64425697982118, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 25.60481533416703, + -7.046180768467863, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 27.10481533416703, + -4.448104557114547, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 28.60481533416703, + -1.8500283457612312, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 30.10481533416703, + 0.7480478655920848, + 4.917211034784705 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 31.60481533416703, + 3.346124076945401, + 4.917211034784705 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-54-25_181226513/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-54-25_181226513/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b69f6f73468d88ef1c8c9fbd1397a6aa520d9d1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-54-25_181226513/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 892.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 895.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 898.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 901.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 904.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 907.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 910.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 913.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 916.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 916.4598731944945, + 180.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 919.0579494058479, + 178.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 921.6560256172013, + 177.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 924.2541018285547, + 175.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 926.852178039908, + 174.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 929.4502542512614, + 172.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 932.0483304626148, + 171.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 934.6464066739682, + 169.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 937.2444828853215, + 168.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 939.8425590966749, + 166.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 942.4406353080283, + 165.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 945.0387115193816, + 163.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 947.636787730735, + 162.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 950.2348639420884, + 160.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 952.8329401534418, + 159.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 955.4310163647951, + 157.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 958.0290925761485, + 156.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 960.6271687875019, + 154.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 963.2252449988553, + 153.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 965.8233212102086, + 151.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 968.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 968.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 971.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 974.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 977.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 980.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 983.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 986.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 989.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 992.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 995.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 998.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1001.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1004.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1007.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1010.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1013.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1016.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1019.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1022.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1025.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1028.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1028.421397421562, + 150.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1031.0194736329154, + 151.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1033.6175498442688, + 153.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1036.2156260556221, + 154.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1038.8137022669755, + 156.14864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1041.4117784783289, + 157.64864368685613, + 1.4481173645932621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1044.0098546896822, + 159.14864368685613, + 1.4481173645932621 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-54-54_286791631/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-54-54_286791631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97ce40524339b9224abfbfb8107321d03751a4f3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-54-54_286791631/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1060.4504892509428, + -116.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1060.4504892509428, + -119.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1060.4504892509428, + -122.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1060.4504892509428, + -125.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1060.4504892509428, + -128.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1060.4504892509428, + -131.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1060.4504892509428, + -134.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1060.4504892509428, + -137.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1060.4504892509428, + -140.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1060.4504892509428, + -143.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1060.4504892509428, + -146.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1060.4504892509428, + -149.4280726274419, + -4.969247946467135 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1060.4504892509428, + -149.4280726274419, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1061.9504892509428, + -152.02614883879522, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1063.4504892509428, + -154.62422505014854, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1064.9504892509428, + -157.22230126150185, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1066.4504892509428, + -159.82037747285517, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1067.9504892509428, + -162.4184536842085, + -4.969247946467135 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1067.9504892509428, + -162.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1067.9504892509428, + -165.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1067.9504892509428, + -168.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1067.9504892509428, + -171.4184536842085, + -4.969247946467135 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1067.9504892509428, + -171.4184536842085, + -4.969247946467135 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1067.9504892509428, + -171.4184536842085, + -4.969247946467135 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1067.9504892509428, + -171.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1065.3524130395895, + -172.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1062.754336828236, + -174.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1060.1562606168827, + -175.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1057.5581844055293, + -177.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1054.960108194176, + -178.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1052.3620319828226, + -180.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1049.7639557714692, + -181.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1047.1658795601159, + -183.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1044.5678033487625, + -184.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1041.969727137409, + -186.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1039.3716509260557, + -187.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1036.7735747147024, + -189.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1034.175498503349, + -190.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1031.5774222919956, + -192.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1028.9793460806422, + -193.9184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1026.3812698692889, + -195.4184536842085, + -4.969247946467135 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1026.3812698692889, + -195.4184536842085, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1024.8812698692889, + -198.0165298955618, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1023.3812698692889, + -200.61460610691512, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1021.8812698692889, + -203.21268231826843, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1020.3812698692889, + -205.81075852962175, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1018.8812698692889, + -208.40883474097507, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1017.3812698692889, + -211.00691095232838, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1015.8812698692889, + -213.6049871636817, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1014.3812698692889, + -216.20306337503501, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1012.8812698692889, + -218.80113958638833, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1011.3812698692889, + -221.39921579774165, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1009.8812698692889, + -223.99729200909496, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1008.3812698692889, + -226.59536822044828, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1006.8812698692889, + -229.1934444318016, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1005.3812698692889, + -231.7915206431549, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1003.8812698692889, + -234.38959685450823, + -4.969247946467135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1002.3812698692889, + -236.98767306586154, + -4.969247946467135 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-56-36_1485511804/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-56-36_1485511804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7414359b3759d511e4ef68a01dd13b645fe4587 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-56-36_1485511804/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 126.84519724567045, + -609.8594275908943, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 125.34519724567045, + -612.4575038022476, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 123.84519724567045, + -615.055580013601, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 122.34519724567045, + -617.6536562249544, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 120.84519724567045, + -620.2517324363077, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 119.34519724567045, + -622.8498086476611, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 117.84519724567045, + -625.4478848590145, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 116.34519724567045, + -628.0459610703679, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 114.84519724567045, + -630.6440372817212, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 113.34519724567045, + -633.2421134930746, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 111.84519724567045, + -635.840189704428, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 110.34519724567045, + -638.4382659157814, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 108.84519724567045, + -641.0363421271347, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 107.34519724567045, + -643.6344183384881, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 105.84519724567045, + -646.2324945498415, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 104.34519724567045, + -648.8305707611948, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.84519724567045, + -651.4286469725482, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 101.34519724567045, + -654.0267231839016, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 99.84519724567045, + -656.624799395255, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 98.34519724567045, + -659.2228756066083, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 96.84519724567045, + -661.8209518179617, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 95.34519724567045, + -664.4190280293151, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 93.84519724567045, + -667.0171042406685, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 92.34519724567045, + -669.6151804520218, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 90.84519724567045, + -672.2132566633752, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 89.34519724567045, + -674.8113328747286, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 87.84519724567045, + -677.409409086082, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 86.34519724567045, + -680.0074852974353, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 84.84519724567045, + -682.6055615087887, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 83.34519724567045, + -685.2036377201421, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 81.84519724567045, + -687.8017139314954, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 80.34519724567045, + -690.3997901428488, + -4.912624871786677 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 80.34519724567045, + -690.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 77.74712103431713, + -691.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 75.14904482296382, + -693.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 72.5509686116105, + -694.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 69.95289240025718, + -696.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 67.35481618890387, + -697.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 64.75673997755055, + -699.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 62.158663766197236, + -700.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 59.56058755484392, + -702.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 56.962511343490604, + -703.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 54.36443513213729, + -705.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 51.76635892078397, + -706.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 49.168282709430656, + -708.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 46.57020649807734, + -709.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 43.972130286724024, + -711.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 41.37405407537071, + -712.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 38.77597786401739, + -714.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 36.177901652664076, + -715.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 33.57982544131076, + -717.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 30.981749229957444, + -718.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 28.383673018604128, + -720.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 25.785596807250812, + -721.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 23.187520595897496, + -723.3997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 20.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 20.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 17.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 14.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 11.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 8.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 5.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 2.58944438454418, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -0.4105556154558201, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -3.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -6.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -9.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -12.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -15.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -18.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -21.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -24.41055561545582, + -724.8997901428488, + -4.912624871786677 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-57-39_1131352346/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-57-39_1131352346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ea8ded51e226fe56df54acdc3ad4b5ab99d8f0b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-57-39_1131352346/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1426.002869708582, + -250.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1423.4047934972286, + -249.05898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1420.8067172858753, + -247.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1418.208641074522, + -246.05898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1415.6105648631685, + -244.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1413.0124886518151, + -243.05898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1410.4144124404618, + -241.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1407.8163362291084, + -240.05898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1405.218260017755, + -238.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1402.6201838064017, + -237.05898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1400.0221075950483, + -235.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1397.424031383695, + -234.05898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1394.8259551723415, + -232.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1392.2278789609882, + -231.05898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1389.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1389.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1386.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1383.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1380.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1377.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1374.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1371.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1368.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1365.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1362.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1359.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1356.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1353.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1350.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1347.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1344.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1341.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1338.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1335.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1338.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1341.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1344.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1347.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1350.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1353.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1356.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1359.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1362.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1365.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1368.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1371.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1374.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1374.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1374.6298027496348, + -229.55898225452586, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1376.1298027496348, + -226.96090604317254, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1377.6298027496348, + -224.36282983181923, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1379.1298027496348, + -221.7647536204659, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1380.6298027496348, + -219.1666774091126, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1382.1298027496348, + -216.56860119775928, + 3.2152457864684045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1382.1298027496348, + -216.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1384.7278789609882, + -215.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1387.3259551723415, + -213.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1389.924031383695, + -212.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1392.5221075950483, + -210.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1395.1201838064017, + -209.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1397.718260017755, + -207.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1400.3163362291084, + -206.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1402.9144124404618, + -204.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1405.5124886518151, + -203.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1408.1105648631685, + -201.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1410.708641074522, + -200.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1413.3067172858753, + -198.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1415.9047934972286, + -197.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1418.502869708582, + -195.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1421.1009459199354, + -194.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1423.6990221312888, + -192.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1426.2970983426421, + -191.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1428.8951745539955, + -189.56860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1431.4932507653489, + -188.06860119775928, + 3.2152457864684045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1434.0913269767022, + -186.56860119775928, + 3.2152457864684045 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-57-9_1650994571/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-57-9_1650994571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb0436d54f11e60b3d837f84a07a27cb4d758890 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-57-9_1650994571/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 509.49784345016434, + -210.53758303294953, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 507.99784345016434, + -213.13565924430284, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 506.49784345016434, + -215.73373545565616, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 504.99784345016434, + -218.33181166700948, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 503.49784345016434, + -220.9298878783628, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 501.99784345016434, + -223.5279640897161, + 4.1299326749842855 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 501.99784345016434, + -223.5279640897161, + 4.1299326749842855 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 501.99784345016434, + -223.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 499.399767238811, + -225.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 496.8016910274577, + -226.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 494.2036148161044, + -228.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 491.6055386047511, + -229.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 489.00746239339776, + -231.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 486.40938618204444, + -232.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 483.8113099706911, + -234.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 481.2132337593378, + -235.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 478.6151575479845, + -237.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 476.0170813366312, + -238.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 473.41900512527786, + -240.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 470.82092891392455, + -241.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 468.22285270257123, + -243.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 465.6247764912179, + -244.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 463.0267002798646, + -246.0279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 460.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 460.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 457.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 454.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 451.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 448.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 445.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 442.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 439.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 436.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 433.4286240685113, + -247.5279640897161, + 4.1299326749842855 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-59-54_943190495/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-59-54_943190495/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95f68074bebe26681a5dc1f714cb4e3e101fd76b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-59-54_943190495/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1350.0866440094364, + 281.9077811536314, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1348.5866440094364, + 279.3097049422781, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1347.0866440094364, + 276.71162873092476, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1345.5866440094364, + 274.11355251957144, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1344.0866440094364, + 271.5154763082181, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1342.5866440094364, + 268.9174000968648, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1341.0866440094364, + 266.3193238855115, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1339.5866440094364, + 263.7212476741582, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1338.0866440094364, + 261.12317146280486, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1336.5866440094364, + 258.52509525145155, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1335.0866440094364, + 255.92701904009823, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1333.5866440094364, + 253.3289428287449, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1332.0866440094364, + 250.7308666173916, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1330.5866440094364, + 248.13279040603828, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1329.0866440094364, + 245.53471419468497, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1327.5866440094364, + 242.93663798333165, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1326.0866440094364, + 240.33856177197833, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1324.5866440094364, + 237.74048556062502, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1323.0866440094364, + 235.1424093492717, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1321.5866440094364, + 232.5443331379184, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1320.0866440094364, + 229.94625692656507, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1318.5866440094364, + 227.34818071521175, + 3.3428164394100985 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1318.5866440094364, + 227.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1318.5866440094364, + 224.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1318.5866440094364, + 221.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1318.5866440094364, + 218.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1318.5866440094364, + 215.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1318.5866440094364, + 212.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1318.5866440094364, + 209.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1318.5866440094364, + 206.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1318.5866440094364, + 203.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1318.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1318.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1318.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1318.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1318.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1321.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1324.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1327.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1330.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1330.5866440094364, + 200.34818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1333.1847202207898, + 198.84818071521175, + 3.3428164394100985 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1333.1847202207898, + 198.84818071521175, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1334.6847202207898, + 196.25010450385844, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1336.1847202207898, + 193.65202829250512, + 3.3428164394100985 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1336.1847202207898, + 193.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1338.7827964321432, + 192.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1341.3808726434966, + 190.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1343.97894885485, + 189.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1346.5770250662033, + 187.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1349.1751012775567, + 186.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1351.77317748891, + 184.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1354.3712537002634, + 183.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1356.9693299116168, + 181.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1359.5674061229702, + 180.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1362.1654823343235, + 178.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1364.763558545677, + 177.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1367.3616347570303, + 175.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1369.9597109683837, + 174.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1372.557787179737, + 172.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1375.1558633910904, + 171.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1377.7539396024438, + 169.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1380.3520158137972, + 168.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1382.9500920251505, + 166.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1385.548168236504, + 165.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1388.1462444478573, + 163.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1390.7443206592106, + 162.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1393.342396870564, + 160.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1395.9404730819174, + 159.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1398.5385492932708, + 157.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1401.1366255046241, + 156.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1403.7347017159775, + 154.65202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1406.3327779273309, + 153.15202829250512, + 3.3428164394100985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1408.9308541386843, + 151.65202829250512, + 3.3428164394100985 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-6-35_274325361/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-6-35_274325361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f18c8d52a676f1c6c4a8cf945023aacdc97d970 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-6-35_274325361/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 249.66167334059088, + -454.80572450497783, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 251.16167334059088, + -452.2076482936245, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 252.66167334059088, + -449.6095720822712, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 254.16167334059088, + -447.0114958709179, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 255.66167334059088, + -444.41341965956457, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 257.1616733405909, + -441.81534344821125, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 258.6616733405909, + -439.21726723685794, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 260.1616733405909, + -436.6191910255046, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 261.6616733405909, + -434.0211148141513, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 263.1616733405909, + -431.423038602798, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 264.6616733405909, + -428.82496239144467, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 266.1616733405909, + -426.22688618009136, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 267.6616733405909, + -423.62880996873804, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 269.1616733405909, + -421.0307337573847, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 270.6616733405909, + -418.4326575460314, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 272.1616733405909, + -415.8345813346781, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 273.6616733405909, + -413.2365051233248, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 275.1616733405909, + -410.63842891197146, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 276.6616733405909, + -408.04035270061814, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 278.1616733405909, + -405.4422764892648, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 279.6616733405909, + -402.8442002779115, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 281.1616733405909, + -400.2461240665582, + 0.598981637063253 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 281.1616733405909, + -400.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 281.1616733405909, + -397.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 281.1616733405909, + -394.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 281.1616733405909, + -391.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 281.1616733405909, + -388.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 281.1616733405909, + -385.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 281.1616733405909, + -382.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 281.1616733405909, + -379.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 281.1616733405909, + -376.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 281.1616733405909, + -373.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 281.1616733405909, + -370.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 281.1616733405909, + -367.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 281.1616733405909, + -364.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 281.1616733405909, + -361.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 281.1616733405909, + -358.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 281.1616733405909, + -355.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 281.1616733405909, + -352.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 281.1616733405909, + -349.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 281.1616733405909, + -346.2461240665582, + 0.598981637063253 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 281.1616733405909, + -346.2461240665582, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 282.6616733405909, + -343.6480478552049, + 0.598981637063253 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 282.6616733405909, + -343.6480478552049, + 0.598981637063253 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 282.6616733405909, + -343.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 285.2597495519442, + -342.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 287.8578257632975, + -340.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 290.45590197465083, + -339.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 293.05397818600414, + -337.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 295.65205439735746, + -336.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 298.2501306087108, + -334.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 300.8482068200641, + -333.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 303.4462830314174, + -331.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 306.0443592427707, + -330.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 308.64243545412404, + -328.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 311.24051166547736, + -327.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 313.8385878768307, + -325.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 316.436664088184, + -324.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 319.0347402995373, + -322.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 321.6328165108906, + -321.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 324.23089272224394, + -319.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 326.82896893359725, + -318.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 329.42704514495057, + -316.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 332.0251213563039, + -315.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 334.6231975676572, + -313.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 337.2212737790105, + -312.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 339.81934999036383, + -310.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 342.41742620171715, + -309.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 345.01550241307046, + -307.6480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 347.6135786244238, + -306.1480478552049, + 0.598981637063253 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 347.6135786244238, + -306.1480478552049, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 349.1135786244238, + -303.54997164385156, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 350.6135786244238, + -300.95189543249825, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 352.1135786244238, + -298.35381922114493, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 353.6135786244238, + -295.7557430097916, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 355.1135786244238, + -293.1576667984383, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 356.6135786244238, + -290.559590587085, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 358.1135786244238, + -287.96151437573167, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 359.6135786244238, + -285.36343816437835, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 361.1135786244238, + -282.76536195302504, + 0.598981637063253 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 361.1135786244238, + -282.76536195302504, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 363.7116548357771, + -281.26536195302504, + 0.598981637063253 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 366.3097310471304, + -279.76536195302504, + 0.598981637063253 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-7-11_217161528/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-7-11_217161528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86f22094124d28efa47b9d33865cb2b6002c4330 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-7-11_217161528/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 993.7002075522777, + -163.88821713234861, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 995.2002075522777, + -166.48629334370193, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 996.7002075522777, + -169.08436955505525, + 4.960211406734661 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 996.7002075522777, + -169.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 999.2982837636309, + -170.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1001.8963599749843, + -172.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1004.4944361863377, + -173.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1007.092512397691, + -175.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1009.6905886090444, + -176.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1012.2886648203978, + -178.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1014.8867410317512, + -179.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1017.4848172431045, + -181.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1020.0828934544579, + -182.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1022.6809696658113, + -184.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1025.2790458771647, + -185.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1027.877122088518, + -187.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1030.4751982998714, + -188.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1033.0732745112248, + -190.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1035.6713507225782, + -191.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1038.2694269339315, + -193.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1040.867503145285, + -194.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1043.4655793566383, + -196.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1046.0636555679916, + -197.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1048.661731779345, + -199.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1051.2598079906984, + -200.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1053.8578842020518, + -202.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1056.4559604134051, + -203.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1059.0540366247585, + -205.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1061.6521128361119, + -206.58436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1064.2501890474653, + -208.08436955505525, + 4.960211406734661 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1064.2501890474653, + -208.08436955505525, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1065.7501890474653, + -210.68244576640856, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1067.2501890474653, + -213.28052197776188, + 4.960211406734661 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1067.2501890474653, + -213.28052197776188, + 4.960211406734661 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1067.2501890474653, + -213.28052197776188, + 4.960211406734661 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1067.2501890474653, + -213.28052197776188, + 4.960211406734661 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1067.2501890474653, + -213.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1064.6521128361119, + -214.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1062.0540366247585, + -216.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1059.4559604134051, + -217.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1056.8578842020518, + -219.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1054.2598079906984, + -220.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1051.661731779345, + -222.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1049.0636555679916, + -223.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1046.4655793566383, + -225.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1043.867503145285, + -226.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1041.2694269339315, + -228.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1038.6713507225782, + -229.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1036.0732745112248, + -231.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1033.4751982998714, + -232.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1030.877122088518, + -234.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1028.2790458771647, + -235.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1025.6809696658113, + -237.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1023.0828934544579, + -238.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1020.4848172431045, + -240.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1017.8867410317512, + -241.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1015.2886648203978, + -243.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1012.6905886090444, + -244.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1010.092512397691, + -246.28052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1007.4944361863377, + -247.78052197776188, + 4.960211406734661 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1007.4944361863377, + -247.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1004.4944361863377, + -247.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1001.4944361863377, + -247.78052197776188, + 4.960211406734661 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 998.4944361863377, + -247.78052197776188, + 4.960211406734661 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-8-58_177332700/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-8-58_177332700/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb2d5499b15b31d8dd57d2db590dd25d9c28b7b0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_10-8-58_177332700/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1135.4034790922756, + -91.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1135.4034790922756, + -94.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1135.4034790922756, + -97.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1135.4034790922756, + -100.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1135.4034790922756, + -103.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1135.4034790922756, + -106.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1135.4034790922756, + -109.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1135.4034790922756, + -112.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1135.4034790922756, + -115.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1135.4034790922756, + -118.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1135.4034790922756, + -121.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1135.4034790922756, + -124.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1135.4034790922756, + -127.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1135.4034790922756, + -130.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1135.4034790922756, + -133.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1135.4034790922756, + -136.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1135.4034790922756, + -139.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1135.4034790922756, + -142.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1135.4034790922756, + -145.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1135.4034790922756, + -148.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1135.4034790922756, + -151.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1135.4034790922756, + -154.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1135.4034790922756, + -157.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1135.4034790922756, + -160.384570662385, + 0.6735846139287149 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1135.4034790922756, + -160.384570662385, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1133.9034790922756, + -162.9826468737383, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1132.4034790922756, + -165.58072308509162, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1130.9034790922756, + -168.17879929644494, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1129.4034790922756, + -170.77687550779825, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1127.9034790922756, + -173.37495171915157, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1126.4034790922756, + -175.97302793050488, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1124.9034790922756, + -178.5711041418582, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1123.4034790922756, + -181.16918035321152, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1121.9034790922756, + -183.76725656456483, + 0.6735846139287149 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1121.9034790922756, + -183.76725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1119.3054028809222, + -185.26725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1116.7073266695688, + -186.76725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1114.1092504582155, + -188.26725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1111.511174246862, + -189.76725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1108.9130980355087, + -191.26725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1106.3150218241553, + -192.76725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1103.716945612802, + -194.26725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1101.1188694014486, + -195.76725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1098.5207931900952, + -197.26725656456483, + 0.6735846139287149 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1098.5207931900952, + -197.26725656456483, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1097.0207931900952, + -199.86533277591815, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1095.5207931900952, + -202.46340898727146, + 0.6735846139287149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1094.0207931900952, + -205.06148519862478, + 0.6735846139287149 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-0-37_1541417540/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-0-37_1541417540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aab41971e88ed11eefb673b3de8586bffd31a8dc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-0-37_1541417540/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1591.3497607292873, + -201.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1591.3497607292873, + -198.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1591.3497607292873, + -195.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1591.3497607292873, + -192.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1591.3497607292873, + -189.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1591.3497607292873, + -186.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1591.3497607292873, + -183.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1591.3497607292873, + -180.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1591.3497607292873, + -177.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1591.3497607292873, + -174.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1591.3497607292873, + -171.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1591.3497607292873, + -168.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1591.3497607292873, + -165.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1591.3497607292873, + -162.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1591.3497607292873, + -159.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1591.3497607292873, + -156.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1591.3497607292873, + -153.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1591.3497607292873, + -150.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1591.3497607292873, + -147.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1591.3497607292873, + -144.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1591.3497607292873, + -141.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1591.3497607292873, + -138.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1591.3497607292873, + -135.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1591.3497607292873, + -132.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1591.3497607292873, + -129.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1591.3497607292873, + -126.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1591.3497607292873, + -123.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1591.3497607292873, + -120.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1591.3497607292873, + -117.43372381000245, + 2.911135300589976 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1591.3497607292873, + -117.43372381000245, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1592.8497607292873, + -114.83564759864913, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1594.3497607292873, + -112.23757138729582, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1595.8497607292873, + -109.6394951759425, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1597.3497607292873, + -107.04141896458918, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1598.8497607292873, + -104.44334275323587, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1600.3497607292873, + -101.84526654188255, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1601.8497607292873, + -99.24719033052924, + 2.911135300589976 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1601.8497607292873, + -99.24719033052924, + 2.911135300589976 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1601.8497607292873, + -99.24719033052924, + 2.911135300589976 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1601.8497607292873, + -99.24719033052924, + 2.911135300589976 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1601.8497607292873, + -99.24719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1599.2516845179339, + -97.74719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1596.6536083065805, + -96.24719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1594.0555320952271, + -94.74719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1591.4574558838738, + -93.24719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1588.8593796725204, + -91.74719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1586.261303461167, + -90.24719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1583.6632272498136, + -88.74719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1581.0651510384603, + -87.24719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1578.467074827107, + -85.74719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1575.8689986157535, + -84.24719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1573.2709224044002, + -82.74719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1570.6728461930468, + -81.24719033052924, + 2.911135300589976 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1570.6728461930468, + -81.24719033052924, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1569.1728461930468, + -78.64911411917592, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1567.6728461930468, + -76.0510379078226, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1566.1728461930468, + -73.45296169646929, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1564.6728461930468, + -70.85488548511597, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1563.1728461930468, + -68.25680927376266, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1561.6728461930468, + -65.65873306240934, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1560.1728461930468, + -63.060656851056024, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1558.6728461930468, + -60.46258063970271, + 2.911135300589976 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1558.6728461930468, + -60.46258063970271, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1556.0747699816934, + -58.96258063970271, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1553.47669377034, + -57.46258063970271, + 2.911135300589976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1550.8786175589867, + -55.96258063970271, + 2.911135300589976 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-1-8_1245036421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-1-8_1245036421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6dda7160875e288c3fe50f61fc14cbc21f10960 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-1-8_1245036421/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 926.186215950266, + -505.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 926.186215950266, + -502.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 926.186215950266, + -499.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 926.186215950266, + -496.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 926.186215950266, + -493.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 926.186215950266, + -490.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 926.186215950266, + -487.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 926.186215950266, + -484.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 926.186215950266, + -481.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 926.186215950266, + -478.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 926.186215950266, + -475.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 926.186215950266, + -472.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 926.186215950266, + -469.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 926.186215950266, + -466.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 926.186215950266, + -463.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 926.186215950266, + -460.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 926.186215950266, + -457.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 926.186215950266, + -454.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 926.186215950266, + -451.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 926.186215950266, + -448.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 926.186215950266, + -445.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 926.186215950266, + -442.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 926.186215950266, + -439.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 926.186215950266, + -436.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 926.186215950266, + -433.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 926.186215950266, + -430.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 926.186215950266, + -427.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 926.186215950266, + -424.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 926.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 926.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 926.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 926.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 926.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 923.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 920.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 917.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 914.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 911.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 908.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 905.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 902.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 899.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 896.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 893.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 890.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 887.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 884.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 881.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 878.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 875.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 872.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 869.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 866.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 863.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 860.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 857.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 854.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 851.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 851.186215950266, + -421.2096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 848.5881397389128, + -419.7096069450398, + 3.2262352695529177 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 845.9900635275594, + -418.2096069450398, + 3.2262352695529177 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-10-27_78417603/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-10-27_78417603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0679182debfc56fec7ffa9e9e452b7b103a06b8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-10-27_78417603/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 424.1498080289392, + -342.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 426.74788424029254, + -343.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 429.34596045164585, + -345.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 431.94403666299917, + -346.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 434.5421128743525, + -348.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 437.1401890857058, + -349.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 439.7382652970591, + -351.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 442.33634150841243, + -352.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 444.93441771976575, + -354.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 447.53249393111906, + -355.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 450.1305701424724, + -357.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 452.7286463538257, + -358.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 455.326722565179, + -360.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 457.9247987765323, + -361.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 460.52287498788564, + -363.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 463.12095119923896, + -364.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 465.7190274105923, + -366.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 468.3171036219456, + -367.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 470.9151798332989, + -369.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 473.5132560446522, + -370.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 476.11133225600554, + -372.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 478.70940846735886, + -373.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 481.30748467871217, + -375.35295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 483.9055608900655, + -376.85295782494916, + -4.812254914107838 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 483.9055608900655, + -376.85295782494916, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 485.4055608900655, + -379.4510340363025, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 486.9055608900655, + -382.0491102476558, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 488.4055608900655, + -384.6471864590091, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 489.9055608900655, + -387.2452626703624, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 491.4055608900655, + -389.84333888171574, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 492.9055608900655, + -392.44141509306905, + -4.812254914107838 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 492.9055608900655, + -392.44141509306905, + -4.812254914107838 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 492.9055608900655, + -392.44141509306905, + -4.812254914107838 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 492.9055608900655, + -392.44141509306905, + -4.812254914107838 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 492.9055608900655, + -392.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 490.30748467871217, + -393.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 487.70940846735886, + -395.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 485.11133225600554, + -396.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 482.5132560446522, + -398.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 479.9151798332989, + -399.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 477.3171036219456, + -401.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 474.7190274105923, + -402.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 472.12095119923896, + -404.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 469.52287498788564, + -405.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 466.9247987765323, + -407.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 464.326722565179, + -408.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 461.7286463538257, + -410.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 459.1305701424724, + -411.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 456.53249393111906, + -413.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 453.93441771976575, + -414.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 451.33634150841243, + -416.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 448.7382652970591, + -417.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 446.1401890857058, + -419.44141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 443.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 443.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 440.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 437.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 434.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 431.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 428.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 425.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 422.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 419.5421128743525, + -420.94141509306905, + -4.812254914107838 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-10-58_1158747661/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-10-58_1158747661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6688ff0bd5db14963181a2519c25092c9794b480 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-10-58_1158747661/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.126626946379, + -361.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.126626946379, + -358.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.126626946379, + -355.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 385.126626946379, + -352.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.126626946379, + -349.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.126626946379, + -346.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 385.126626946379, + -343.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 385.126626946379, + -340.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 385.126626946379, + -337.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 385.126626946379, + -334.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 385.126626946379, + -331.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 385.126626946379, + -328.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 385.126626946379, + -325.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 385.126626946379, + -322.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 385.126626946379, + -319.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 385.126626946379, + -316.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 385.126626946379, + -313.7368304865775, + -4.732194844618445 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 385.126626946379, + -313.7368304865775, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 383.626626946379, + -311.1387542752242, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 382.126626946379, + -308.54067806387087, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 380.626626946379, + -305.94260185251756, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 379.126626946379, + -303.34452564116424, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 377.626626946379, + -300.7464494298109, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 376.126626946379, + -298.1483732184576, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 374.626626946379, + -295.5502970071043, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 373.126626946379, + -292.952220795751, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 371.626626946379, + -290.35414458439766, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 370.126626946379, + -287.75606837304434, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 368.626626946379, + -285.157992161691, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 367.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 367.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 367.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 367.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 367.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 367.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 370.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 373.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 376.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 379.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 382.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 385.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 388.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 391.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 394.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 397.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 400.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 403.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 406.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 409.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 412.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 412.126626946379, + -282.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 414.72470315773234, + -284.0599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 417.32277936908565, + -285.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 419.92085558043897, + -287.0599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 422.5189317917923, + -288.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 425.1170080031456, + -290.0599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 427.7150842144989, + -291.5599159503377, + -4.732194844618445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 430.31316042585223, + -293.0599159503377, + -4.732194844618445 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-12-40_44470216/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-12-40_44470216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a8826e9041bd200674d72a7991675f9511e6b6b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-12-40_44470216/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -131.6795982234417, + -826.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -131.6795982234417, + -823.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -131.6795982234417, + -820.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -131.6795982234417, + -817.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -131.6795982234417, + -814.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -131.6795982234417, + -811.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -131.6795982234417, + -808.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -131.6795982234417, + -805.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -131.6795982234417, + -802.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -131.6795982234417, + -799.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -131.6795982234417, + -796.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -131.6795982234417, + -793.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -131.6795982234417, + -790.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -131.6795982234417, + -787.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -131.6795982234417, + -784.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -131.6795982234417, + -781.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -131.6795982234417, + -778.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -131.6795982234417, + -775.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -131.6795982234417, + -772.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -131.6795982234417, + -769.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -131.6795982234417, + -766.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -131.6795982234417, + -763.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -131.6795982234417, + -760.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.6795982234417, + -757.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -131.6795982234417, + -754.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -131.6795982234417, + -751.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -131.6795982234417, + -748.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -131.6795982234417, + -745.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -131.6795982234417, + -742.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -131.6795982234417, + -739.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -131.6795982234417, + -736.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -131.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -131.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -131.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -131.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -131.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -128.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -125.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -122.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -119.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -116.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -113.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -110.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -107.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -104.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -101.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -98.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -95.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -92.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -89.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -86.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -83.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -80.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -77.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -74.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -71.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -68.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -65.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -62.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -59.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -56.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -53.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -50.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -50.6795982234417, + -733.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -48.081522012088385, + -732.1213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -45.48344580073507, + -730.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -42.88536958938175, + -729.1213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -40.28729337802844, + -727.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -37.68921716667512, + -726.1213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -35.091140955321805, + -724.6213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -32.49306474396849, + -723.1213172509032, + 1.9555216396006871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -29.894988532615173, + -721.6213172509032, + 1.9555216396006871 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-12-6_922587542/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-12-6_922587542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0de41028e48ec4992551f24127281abf8be7d934 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-12-6_922587542/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 192.16818747210934, + -353.4898410206304, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 190.66818747210934, + -350.8917648092771, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 189.16818747210934, + -348.2936885979238, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 187.66818747210934, + -345.6956123865705, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 186.16818747210934, + -343.09753617521716, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 184.66818747210934, + -340.49945996386384, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 183.16818747210934, + -337.9013837525105, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 181.66818747210934, + -335.3033075411572, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 180.16818747210934, + -332.7052313298039, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 178.66818747210934, + -330.1071551184506, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 177.16818747210934, + -327.50907890709726, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 175.66818747210934, + -324.91100269574395, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 174.16818747210934, + -322.31292648439063, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 172.66818747210934, + -319.7148502730373, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 171.16818747210934, + -317.116774061684, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 169.66818747210934, + -314.5186978503307, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 168.16818747210934, + -311.92062163897737, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 166.66818747210934, + -309.32254542762405, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 165.16818747210934, + -306.72446921627073, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 163.66818747210934, + -304.1263930049174, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 162.16818747210934, + -301.5283167935641, + 0.5369437466773146 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 162.16818747210934, + -301.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 162.16818747210934, + -298.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 162.16818747210934, + -295.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 162.16818747210934, + -292.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 162.16818747210934, + -289.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 162.16818747210934, + -286.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 162.16818747210934, + -283.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 162.16818747210934, + -280.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 162.16818747210934, + -277.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 162.16818747210934, + -274.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 162.16818747210934, + -271.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 162.16818747210934, + -268.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 162.16818747210934, + -265.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 162.16818747210934, + -262.5283167935641, + 0.5369437466773146 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 162.16818747210934, + -262.5283167935641, + 0.5369437466773146 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 162.16818747210934, + -262.5283167935641, + 0.5369437466773146 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 162.16818747210934, + -262.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 164.76626368346265, + -261.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 167.36433989481597, + -259.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 169.9624161061693, + -258.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 172.5604923175226, + -256.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 175.15856852887592, + -255.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 177.75664474022923, + -253.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 180.35472095158255, + -252.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 182.95279716293587, + -250.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 185.55087337428918, + -249.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 188.1489495856425, + -247.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 190.7470257969958, + -246.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 193.34510200834913, + -244.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 195.94317821970245, + -243.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 198.54125443105576, + -241.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 201.13933064240908, + -240.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 203.7374068537624, + -238.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 206.3354830651157, + -237.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 208.93355927646903, + -235.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 211.53163548782234, + -234.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 214.12971169917566, + -232.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 216.72778791052897, + -231.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 219.3258641218823, + -229.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 221.9239403332356, + -228.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 224.52201654458892, + -226.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 227.12009275594224, + -225.0283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 229.71816896729555, + -223.5283167935641, + 0.5369437466773146 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 229.71816896729555, + -223.5283167935641, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 231.21816896729555, + -220.93024058221079, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 232.71816896729555, + -218.33216437085747, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 234.21816896729555, + -215.73408815950415, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 235.71816896729555, + -213.13601194815084, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 237.21816896729555, + -210.53793573679752, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 238.71816896729555, + -207.9398595254442, + 0.5369437466773146 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 240.21816896729555, + -205.3417833140909, + 0.5369437466773146 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-14-17_2037335344/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-14-17_2037335344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95a8a2db1412db7968c61ce7010203cb330ac4ed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-14-17_2037335344/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 860.183836186115, + -485.52801731529007, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 861.683836186115, + -482.92994110393676, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 863.183836186115, + -480.33186489258344, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 864.683836186115, + -477.7337886812301, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 866.183836186115, + -475.1357124698768, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 867.683836186115, + -472.5376362585235, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 869.183836186115, + -469.9395600471702, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 870.683836186115, + -467.34148383581686, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 872.183836186115, + -464.74340762446354, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 873.683836186115, + -462.1453314131102, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 875.183836186115, + -459.5472552017569, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 876.683836186115, + -456.9491789904036, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 878.183836186115, + -454.3511027790503, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 879.683836186115, + -451.75302656769696, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 881.183836186115, + -449.15495035634365, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 882.683836186115, + -446.55687414499033, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 884.183836186115, + -443.958797933637, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 885.683836186115, + -441.3607217222837, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 887.183836186115, + -438.7626455109304, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 888.683836186115, + -436.16456929957707, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 890.183836186115, + -433.56649308822375, + -0.13930557895626539 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 890.183836186115, + -433.56649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 892.7819123974682, + -432.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 895.3799886088216, + -430.56649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 897.978064820175, + -429.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 900.5761410315283, + -427.56649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 903.1742172428817, + -426.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 905.7722934542351, + -424.56649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 908.3703696655884, + -423.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 910.9684458769418, + -421.56649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 913.5665220882952, + -420.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 916.1645982996486, + -418.56649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 918.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 918.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 918.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 918.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 918.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 918.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 918.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 915.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 912.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 909.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 906.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 903.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 900.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 897.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 894.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 891.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 888.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 885.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 882.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 879.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 876.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 873.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 870.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 867.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 864.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 861.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 858.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 855.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 852.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 849.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 846.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 843.7626745110019, + -417.06649308822375, + -0.13930557895626539 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-15-24_547407330/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-15-24_547407330/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..905c6b6aeec615da535f6ba9d7ff71c212f5d4e5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-15-24_547407330/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1402.8022930996924, + -81.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1402.8022930996924, + -84.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1402.8022930996924, + -87.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1402.8022930996924, + -90.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1402.8022930996924, + -93.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1402.8022930996924, + -96.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1402.8022930996924, + -99.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1402.8022930996924, + -102.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1402.8022930996924, + -105.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1402.8022930996924, + -108.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1402.8022930996924, + -111.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1402.8022930996924, + -114.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1402.8022930996924, + -117.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1402.8022930996924, + -120.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1402.8022930996924, + -123.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1402.8022930996924, + -126.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1402.8022930996924, + -129.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1402.8022930996924, + -132.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1402.8022930996924, + -135.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1402.8022930996924, + -138.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1402.8022930996924, + -141.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1402.8022930996924, + -144.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1402.8022930996924, + -147.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1402.8022930996924, + -150.69599129357263, + 0.742355547854193 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1402.8022930996924, + -150.69599129357263, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1401.3022930996924, + -153.29406750492595, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1399.8022930996924, + -155.89214371627926, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1398.3022930996924, + -158.49021992763258, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1396.8022930996924, + -161.0882961389859, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1395.3022930996924, + -163.6863723503392, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1393.8022930996924, + -166.28444856169253, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1392.3022930996924, + -168.88252477304584, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1390.8022930996924, + -171.48060098439916, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1389.3022930996924, + -174.07867719575248, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1387.8022930996924, + -176.6767534071058, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1386.3022930996924, + -179.2748296184591, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1384.8022930996924, + -181.87290582981242, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1383.3022930996924, + -184.47098204116574, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1381.8022930996924, + -187.06905825251906, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1380.3022930996924, + -189.66713446387237, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1378.8022930996924, + -192.2652106752257, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1377.3022930996924, + -194.863286886579, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1375.8022930996924, + -197.46136309793232, + 0.742355547854193 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1375.8022930996924, + -197.46136309793232, + 0.742355547854193 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1375.8022930996924, + -197.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1373.204216888339, + -198.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1370.6061406769857, + -200.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1368.0080644656323, + -201.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1365.409988254279, + -203.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1362.8119120429255, + -204.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1360.2138358315722, + -206.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1357.6157596202188, + -207.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1355.0176834088654, + -209.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1352.419607197512, + -210.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1349.8215309861587, + -212.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1347.2234547748053, + -213.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1344.625378563452, + -215.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1342.0273023520986, + -216.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1339.4292261407452, + -218.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1336.8311499293918, + -219.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1334.2330737180384, + -221.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1331.634997506685, + -222.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1329.0369212953317, + -224.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1326.4388450839783, + -225.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1323.840768872625, + -227.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1321.2426926612716, + -228.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1318.6446164499182, + -230.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1316.0465402385648, + -231.96136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1313.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1313.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1310.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1307.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1304.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1301.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1298.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1295.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1292.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1289.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1286.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1283.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1280.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1277.4484640272115, + -233.46136309793232, + 0.742355547854193 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-16-40_858829294/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-16-40_858829294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dacdfc2179692cc80638cea28bb2a4cbda7592a4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-16-40_858829294/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1481.5205565579358, + -105.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1478.9224803465825, + -103.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1476.324404135229, + -102.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1473.7263279238757, + -100.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1471.1282517125223, + -99.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1468.530175501169, + -97.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1465.9320992898156, + -96.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1463.3340230784622, + -94.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1460.7359468671089, + -93.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1458.1378706557555, + -91.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1455.539794444402, + -90.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1452.9417182330487, + -88.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1450.3436420216954, + -87.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1447.745565810342, + -85.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1445.1474895989886, + -84.35771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1442.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1442.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1439.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1436.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1433.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1430.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1427.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1424.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1421.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1418.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1415.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1412.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1409.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1406.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1403.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1400.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1400.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1400.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1400.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1400.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1400.5494133876352, + -82.85771625959825, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1402.0494133876352, + -80.25964004824493, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1403.5494133876352, + -77.66156383689162, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1405.0494133876352, + -75.0634876255383, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1406.5494133876352, + -72.46541141418498, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1408.0494133876352, + -69.86733520283167, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1409.5494133876352, + -67.26925899147835, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1411.0494133876352, + -64.67118278012504, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1412.5494133876352, + -62.07310656877172, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1414.0494133876352, + -59.475030357418404, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1415.5494133876352, + -56.87695414606509, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1417.0494133876352, + -54.27887793471177, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1418.5494133876352, + -51.68080172335846, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1420.0494133876352, + -49.08272551200514, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1421.5494133876352, + -46.484649300651824, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1423.0494133876352, + -43.88657308929851, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1424.5494133876352, + -41.28849687794519, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1426.0494133876352, + -38.690420666591876, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1427.5494133876352, + -36.09234445523856, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1429.0494133876352, + -33.494268243885244, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1430.5494133876352, + -30.89619203253193, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1432.0494133876352, + -28.298115821178612, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1433.5494133876352, + -25.700039609825296, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1435.0494133876352, + -23.10196339847198, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1436.5494133876352, + -20.503887187118664, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1438.0494133876352, + -17.90581097576535, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1439.5494133876352, + -15.307734764412032, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1441.0494133876352, + -12.709658553058716, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1442.5494133876352, + -10.1115823417054, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1444.0494133876352, + -7.513506130352084, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1445.5494133876352, + -4.915429918998768, + -0.1122365049504701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1447.0494133876352, + -2.3173537076454522, + -0.1122365049504701 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-17-14_1396342013/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-17-14_1396342013/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6710a9e1e385a499ea7166b1c73ae02a780e6115 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-17-14_1396342013/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.778217751875, + -574.1360616875047, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 485.278217751875, + -571.5379854761513, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 483.778217751875, + -568.939909264798, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 482.278217751875, + -566.3418330534446, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 480.778217751875, + -563.7437568420912, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 479.278217751875, + -561.1456806307378, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 477.778217751875, + -558.5476044193845, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 476.278217751875, + -555.9495282080311, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 474.778217751875, + -553.3514519966777, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 473.278217751875, + -550.7533757853244, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 471.778217751875, + -548.155299573971, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 470.278217751875, + -545.5572233626176, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 468.778217751875, + -542.9591471512642, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 467.278217751875, + -540.3610709399109, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 465.778217751875, + -537.7629947285575, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 464.278217751875, + -535.1649185172041, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 462.778217751875, + -532.5668423058507, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 461.278217751875, + -529.9687660944974, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 459.778217751875, + -527.370689883144, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 458.278217751875, + -524.7726136717906, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 456.778217751875, + -522.1745374604373, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 455.278217751875, + -519.5764612490839, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 453.778217751875, + -516.9783850377305, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 452.278217751875, + -514.3803088263771, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 450.778217751875, + -511.7822326150238, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 449.278217751875, + -509.1841564036705, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 447.778217751875, + -506.5860801923172, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 446.278217751875, + -503.98800398096387, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.778217751875, + -501.38992776961055, + -2.957369896965099 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 444.778217751875, + -501.38992776961055, + -2.957369896965099 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 444.778217751875, + -501.38992776961055, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 446.278217751875, + -498.79185155825724, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 447.778217751875, + -496.1937753469039, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 449.278217751875, + -493.5956991355506, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 450.778217751875, + -490.9976229241973, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 452.278217751875, + -488.39954671284397, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 453.778217751875, + -485.80147050149066, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 455.278217751875, + -483.20339429013734, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 456.778217751875, + -480.605318078784, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 458.278217751875, + -478.0072418674307, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 459.778217751875, + -475.4091656560774, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 461.278217751875, + -472.8110894447241, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 462.778217751875, + -470.21301323337076, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 464.278217751875, + -467.61493702201744, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 465.778217751875, + -465.0168608106641, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 467.278217751875, + -462.4187845993108, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 468.778217751875, + -459.8207083879575, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 470.278217751875, + -457.2226321766042, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 471.778217751875, + -454.62455596525086, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 473.278217751875, + -452.02647975389755, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 474.778217751875, + -449.42840354254423, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 476.278217751875, + -446.8303273311909, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 477.778217751875, + -444.2322511198376, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 479.278217751875, + -441.6341749084843, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 480.778217751875, + -439.03609869713097, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 482.278217751875, + -436.43802248577765, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 483.778217751875, + -433.83994627442434, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 485.278217751875, + -431.241870063071, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 486.778217751875, + -428.6437938517177, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 488.278217751875, + -426.0457176403644, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 489.778217751875, + -423.44764142901107, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 491.278217751875, + -420.84956521765776, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 492.778217751875, + -418.25148900630444, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 494.278217751875, + -415.6534127949511, + -2.957369896965099 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 494.278217751875, + -415.6534127949511, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 494.278217751875, + -412.6534127949511, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 494.278217751875, + -409.6534127949511, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 494.278217751875, + -406.6534127949511, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 494.278217751875, + -403.6534127949511, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 494.278217751875, + -400.6534127949511, + -2.957369896965099 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 494.278217751875, + -397.6534127949511, + -2.957369896965099 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-2-24_30387226/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-2-24_30387226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a3facdab52ec6af8e45d8010a7c1ed18c387fec --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-2-24_30387226/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -96.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -102.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -105.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -108.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -111.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -114.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -117.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -120.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -123.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -126.12941492738891, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -129.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -132.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -135.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -138.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -144.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -147.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -150.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -153.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -153.1294149273889, + -188.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -155.7274911387422, + -186.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -158.32556735009553, + -185.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -160.92364356144884, + -183.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -163.52171977280216, + -182.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -166.11979598415547, + -180.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -168.7178721955088, + -179.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -171.3159484068621, + -177.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -173.91402461821542, + -176.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -176.51210082956874, + -174.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -179.11017704092205, + -173.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -181.70825325227537, + -171.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -184.30632946362869, + -170.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -186.904405674982, + -168.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -189.50248188633532, + -167.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -192.10055809768863, + -165.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -194.69863430904195, + -164.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -197.29671052039527, + -162.61556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -199.89478673174858, + -161.11556191883608, + -2.561853165360447 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -199.89478673174858, + -161.11556191883608, + -2.561853165360447 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -199.89478673174858, + -161.11556191883608, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -201.39478673174858, + -158.51748570748276, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -202.89478673174858, + -155.91940949612945, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -204.39478673174858, + -153.32133328477613, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -205.89478673174858, + -150.72325707342281, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -207.39478673174858, + -148.1251808620695, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -208.89478673174858, + -145.52710465071618, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -210.39478673174858, + -142.92902843936287, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -211.89478673174858, + -140.33095222800955, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -213.39478673174858, + -137.73287601665623, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -214.89478673174858, + -135.13479980530292, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -216.39478673174858, + -132.5367235939496, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -217.89478673174858, + -129.9386473825963, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -219.39478673174858, + -127.34057117124297, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -220.89478673174858, + -124.74249495988965, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -222.39478673174858, + -122.14441874853634, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -223.89478673174858, + -119.54634253718302, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -225.39478673174858, + -116.9482663258297, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -226.89478673174858, + -114.35019011447639, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -228.39478673174858, + -111.75211390312307, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -229.89478673174858, + -109.15403769176976, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -231.39478673174858, + -106.55596148041644, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -232.89478673174858, + -103.95788526906313, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -234.39478673174858, + -101.35980905770981, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -235.89478673174858, + -98.7617328463565, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -237.39478673174858, + -96.16365663500318, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -238.89478673174858, + -93.56558042364986, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -240.39478673174858, + -90.96750421229655, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -241.89478673174858, + -88.36942800094323, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -243.39478673174858, + -85.77135178958991, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -244.89478673174858, + -83.1732755782366, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -246.39478673174858, + -80.57519936688328, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -247.89478673174858, + -77.97712315552997, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -249.39478673174858, + -75.37904694417665, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -250.89478673174858, + -72.78097073282333, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -252.39478673174858, + -70.18289452147002, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -253.89478673174858, + -67.5848183101167, + -2.561853165360447 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -255.39478673174858, + -64.98674209876339, + -2.561853165360447 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-20-30_1069117832/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-20-30_1069117832/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08c62679354b348c1dfe7805492961fc0eeae17e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-20-30_1069117832/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 889.2143134090508, + -502.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 889.2143134090508, + -499.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 889.2143134090508, + -496.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 889.2143134090508, + -493.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 889.2143134090508, + -490.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 889.2143134090508, + -487.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 889.2143134090508, + -484.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 889.2143134090508, + -481.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 889.2143134090508, + -478.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 889.2143134090508, + -475.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 889.2143134090508, + -472.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 889.2143134090508, + -469.59913447595375, + -1.4115111309590427 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 889.2143134090508, + -469.59913447595375, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 887.7143134090508, + -467.00105826460043, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 886.2143134090508, + -464.4029820532471, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 884.7143134090508, + -461.8049058418938, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 883.2143134090508, + -459.2068296305405, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 881.7143134090508, + -456.60875341918717, + -1.4115111309590427 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 881.7143134090508, + -456.60875341918717, + -1.4115111309590427 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 881.7143134090508, + -456.60875341918717, + -1.4115111309590427 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 881.7143134090508, + -456.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 884.312389620404, + -455.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 886.9104658317574, + -453.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 889.5085420431108, + -452.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 892.1066182544641, + -450.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 894.7046944658175, + -449.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 897.3027706771709, + -447.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 899.9008468885243, + -446.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 902.4989230998776, + -444.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 905.096999311231, + -443.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 907.6950755225844, + -441.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 910.2931517339377, + -440.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 912.8912279452911, + -438.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 915.4893041566445, + -437.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 918.0873803679979, + -435.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 920.6854565793512, + -434.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 923.2835327907046, + -432.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 925.881609002058, + -431.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 928.4796852134114, + -429.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 931.0777614247647, + -428.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 933.6758376361181, + -426.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 936.2739138474715, + -425.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 938.8719900588248, + -423.60875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 941.4700662701782, + -422.10875341918717, + -1.4115111309590427 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 941.4700662701782, + -422.10875341918717, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 942.9700662701782, + -419.51067720783385, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 944.4700662701782, + -416.91260099648053, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 945.9700662701782, + -414.3145247851272, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 947.4700662701782, + -411.7164485737739, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 948.9700662701782, + -409.1183723624206, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 950.4700662701782, + -406.52029615106727, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 951.9700662701782, + -403.92221993971395, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 953.4700662701782, + -401.32414372836064, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 954.9700662701782, + -398.7260675170073, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 956.4700662701782, + -396.127991305654, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 957.9700662701782, + -393.5299150943007, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 959.4700662701782, + -390.9318388829474, + -1.4115111309590427 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 960.9700662701782, + -388.33376267159406, + -1.4115111309590427 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-22-44_185963953/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-22-44_185963953/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3b39d7bcb03d21868c4419c78364b6dd6abe3a6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-22-44_185963953/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 428.13519911991386, + -491.3011914384239, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 429.63519911991386, + -488.7031152270706, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 431.13519911991386, + -486.1050390157173, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 432.63519911991386, + -483.506962804364, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 434.13519911991386, + -480.90888659301066, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 435.63519911991386, + -478.31081038165735, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 437.13519911991386, + -475.71273417030403, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 438.63519911991386, + -473.1146579589507, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 440.13519911991386, + -470.5165817475974, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 441.63519911991386, + -467.9185055362441, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 443.13519911991386, + -465.32042932489077, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 444.63519911991386, + -462.72235311353745, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 446.13519911991386, + -460.12427690218414, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 447.63519911991386, + -457.5262006908308, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 449.13519911991386, + -454.9281244794775, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 450.63519911991386, + -452.3300482681242, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 452.13519911991386, + -449.73197205677087, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 453.63519911991386, + -447.13389584541756, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 455.13519911991386, + -444.53581963406424, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 456.63519911991386, + -441.9377434227109, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 458.13519911991386, + -439.3396672113576, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 459.63519911991386, + -436.7415910000043, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 461.13519911991386, + -434.143514788651, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 462.63519911991386, + -431.54543857729766, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 464.13519911991386, + -428.94736236594434, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 465.63519911991386, + -426.349286154591, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 467.13519911991386, + -423.7512099432377, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 468.63519911991386, + -421.1531337318844, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 470.13519911991386, + -418.5550575205311, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 471.63519911991386, + -415.95698130917776, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 473.13519911991386, + -413.35890509782445, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 474.63519911991386, + -410.76082888647113, + 0.1747588458394329 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 474.63519911991386, + -410.76082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 477.2332753312672, + -409.26082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 479.8313515426205, + -407.76082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 482.4294277539738, + -406.26082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 485.0275039653271, + -404.76082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 487.62558017668044, + -403.26082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 490.22365638803376, + -401.76082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 492.8217325993871, + -400.26082888647113, + 0.1747588458394329 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 492.8217325993871, + -400.26082888647113, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 494.3217325993871, + -397.6627526751178, + 0.1747588458394329 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 494.3217325993871, + -397.6627526751178, + 0.1747588458394329 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 494.3217325993871, + -397.6627526751178, + 0.1747588458394329 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 494.3217325993871, + -397.6627526751178, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 492.8217325993871, + -395.0646764637645, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 491.3217325993871, + -392.4666002524112, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 489.8217325993871, + -389.86852404105787, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 488.3217325993871, + -387.27044782970455, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 486.8217325993871, + -384.67237161835124, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 485.3217325993871, + -382.0742954069979, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 483.8217325993871, + -379.4762191956446, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 482.3217325993871, + -376.8781429842913, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 480.8217325993871, + -374.28006677293797, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 479.3217325993871, + -371.68199056158466, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 477.8217325993871, + -369.08391435023134, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 476.3217325993871, + -366.485838138878, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 474.8217325993871, + -363.8877619275247, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 473.3217325993871, + -361.2896857161714, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 471.8217325993871, + -358.6916095048181, + 0.1747588458394329 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 471.8217325993871, + -358.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 471.8217325993871, + -355.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 471.8217325993871, + -352.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 471.8217325993871, + -349.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 471.8217325993871, + -346.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 471.8217325993871, + -343.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 471.8217325993871, + -340.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 471.8217325993871, + -337.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 471.8217325993871, + -334.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 471.8217325993871, + -331.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 471.8217325993871, + -328.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 471.8217325993871, + -325.6916095048181, + 0.1747588458394329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 471.8217325993871, + -322.6916095048181, + 0.1747588458394329 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-22-7_2025251990/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-22-7_2025251990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90b99a8be6c0f59c12a58fc904ea75c97175a2bb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-22-7_2025251990/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -122.04386043651834, + -398.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -122.04386043651834, + -395.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -122.04386043651834, + -392.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -122.04386043651834, + -389.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -122.04386043651834, + -386.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -122.04386043651834, + -383.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -122.04386043651834, + -380.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -122.04386043651834, + -377.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -122.04386043651834, + -374.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -122.04386043651834, + -371.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -122.04386043651834, + -368.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -122.04386043651834, + -365.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -122.04386043651834, + -362.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -122.04386043651834, + -359.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -122.04386043651834, + -356.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -122.04386043651834, + -353.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.04386043651834, + -350.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -122.04386043651834, + -347.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -122.04386043651834, + -344.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -122.04386043651834, + -341.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -122.04386043651834, + -338.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -122.04386043651834, + -335.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -122.04386043651834, + -332.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -122.04386043651834, + -329.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -122.04386043651834, + -326.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -122.04386043651834, + -323.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -122.04386043651834, + -320.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -122.04386043651834, + -317.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -122.04386043651834, + -314.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -122.04386043651834, + -311.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -122.04386043651834, + -308.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.04386043651834, + -305.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -122.04386043651834, + -302.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -122.04386043651834, + -299.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -122.04386043651834, + -296.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -122.04386043651834, + -293.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -122.04386043651834, + -290.7113612967113, + -2.83915118619794 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -122.04386043651834, + -290.7113612967113, + -2.83915118619794 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -122.04386043651834, + -290.7113612967113, + -2.83915118619794 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -122.04386043651834, + -290.7113612967113, + -2.83915118619794 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -122.04386043651834, + -290.7113612967113, + -2.83915118619794 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -122.04386043651834, + -290.7113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -119.44578422516503, + -292.2113612967113, + -2.83915118619794 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -119.44578422516503, + -292.2113612967113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -117.94578422516503, + -294.8094375080646, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -116.44578422516503, + -297.4075137194179, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -114.94578422516503, + -300.00558993077124, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -113.44578422516503, + -302.60366614212455, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -111.94578422516503, + -305.20174235347787, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -110.44578422516503, + -307.7998185648312, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -108.94578422516503, + -310.3978947761845, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -107.44578422516503, + -312.9959709875378, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -105.94578422516503, + -315.59404719889113, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -104.44578422516503, + -318.19212341024445, + -2.83915118619794 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -104.44578422516503, + -318.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -101.84770801381171, + -319.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -99.2496318024584, + -321.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -96.65155559110508, + -322.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -94.05347937975176, + -324.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -91.45540316839845, + -325.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -88.85732695704513, + -327.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -86.25925074569182, + -328.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -83.6611745343385, + -330.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -81.06309832298518, + -331.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -78.46502211163187, + -333.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -75.86694590027855, + -334.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -73.26886968892524, + -336.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -70.67079347757192, + -337.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -68.0727172662186, + -339.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -65.47464105486529, + -340.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -62.87656484351197, + -342.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -60.278488632158655, + -343.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -57.68041242080534, + -345.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -55.08233620945202, + -346.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -52.48425999809871, + -348.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -49.88618378674539, + -349.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -47.288107575392075, + -351.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -44.69003136403876, + -352.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -42.09195515268544, + -354.19212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -39.49387894133213, + -355.69212341024445, + -2.83915118619794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -36.89580272997881, + -357.19212341024445, + -2.83915118619794 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-23-17_627510635/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-23-17_627510635/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f3e23290a9ea9ecfa2b186bbbfd10d302689d00 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-23-17_627510635/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -28.219308650866946, + -619.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -28.219308650866946, + -622.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -28.219308650866946, + -625.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -28.219308650866946, + -628.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -28.219308650866946, + -631.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -28.219308650866946, + -634.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -28.219308650866946, + -637.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -28.219308650866946, + -640.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -28.219308650866946, + -643.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -28.219308650866946, + -646.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -28.219308650866946, + -649.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -28.219308650866946, + -652.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -28.219308650866946, + -655.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -28.219308650866946, + -658.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -28.219308650866946, + -661.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -28.219308650866946, + -664.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -28.219308650866946, + -667.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -28.219308650866946, + -670.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -28.219308650866946, + -673.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -28.219308650866946, + -676.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -28.219308650866946, + -679.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -28.219308650866946, + -682.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -28.219308650866946, + -685.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -28.219308650866946, + -688.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -28.219308650866946, + -691.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.219308650866946, + -694.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -28.219308650866946, + -697.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -28.219308650866946, + -700.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -28.219308650866946, + -703.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -28.219308650866946, + -706.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -28.219308650866946, + -709.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -28.219308650866946, + -712.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -28.219308650866946, + -715.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -28.219308650866946, + -718.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -28.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -28.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -28.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -28.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -28.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -25.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -22.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -19.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -16.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -13.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -10.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -7.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -4.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1.219308650866946, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 7.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 10.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 13.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 16.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 19.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 22.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 25.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 28.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 31.780691349133054, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 34.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 37.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 40.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 43.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 46.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 49.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 49.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 49.78069134913305, + -721.4965322486463, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 51.28069134913305, + -718.898456037293, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 52.78069134913305, + -716.3003798259397, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 54.28069134913305, + -713.7023036145863, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 55.78069134913305, + -711.1042274032329, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 57.28069134913305, + -708.5061511918796, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 58.78069134913305, + -705.9080749805262, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 60.28069134913305, + -703.3099987691728, + 0.6880462575213473 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 60.28069134913305, + -703.3099987691728, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 62.87876756048637, + -701.8099987691728, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 65.47684377183968, + -700.3099987691728, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 68.074919983193, + -698.8099987691728, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 70.67299619454631, + -697.3099987691728, + 0.6880462575213473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 73.27107240589963, + -695.8099987691728, + 0.6880462575213473 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-23-53_1608959295/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-23-53_1608959295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..091be635099083e49f5a4a9837890b9d861650d5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-23-53_1608959295/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 690.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 693.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 696.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 699.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 702.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 705.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 708.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 711.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 714.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 717.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 720.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 723.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 726.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 729.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 732.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 735.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 738.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 741.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 744.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 747.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 750.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 753.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 756.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 759.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 762.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 765.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 768.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 771.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 774.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 777.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 777.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 777.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 777.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 777.4575872248106, + -19.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 777.4575872248106, + -16.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 777.4575872248106, + -13.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 777.4575872248106, + -10.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 777.4575872248106, + -7.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 777.4575872248106, + -4.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 777.4575872248106, + -1.797189926760705, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 777.4575872248106, + 1.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 777.4575872248106, + 4.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 777.4575872248106, + 7.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 777.4575872248106, + 10.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 777.4575872248106, + 13.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 777.4575872248106, + 16.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 777.4575872248106, + 19.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 777.4575872248106, + 22.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 777.4575872248106, + 25.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 777.4575872248106, + 28.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 777.4575872248106, + 31.202810073239295, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 777.4575872248106, + 34.20281007323929, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 777.4575872248106, + 37.20281007323929, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 777.4575872248106, + 40.20281007323929, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 777.4575872248106, + 43.20281007323929, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 777.4575872248106, + 46.20281007323929, + 0.30155415783807094 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 777.4575872248106, + 46.20281007323929, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 778.9575872248106, + 48.80088628459261, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 780.4575872248106, + 51.39896249594592, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 781.9575872248106, + 53.99703870729924, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 783.4575872248106, + 56.595114918652556, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 784.9575872248106, + 59.19319113000587, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 786.4575872248106, + 61.79126734135919, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 787.9575872248106, + 64.3893435527125, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 789.4575872248106, + 66.98741976406582, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 790.9575872248106, + 69.58549597541914, + 0.30155415783807094 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 792.4575872248106, + 72.18357218677245, + 0.30155415783807094 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-24-57_1848096107/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-24-57_1848096107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da1ee2ff3ecbab9180d0b1c42cd0d59509f70427 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-24-57_1848096107/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -196.9797516742372, + 28.467352663291983, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -198.4797516742372, + 25.869276451938667, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -199.9797516742372, + 23.27120024058535, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -201.4797516742372, + 20.673124029232035, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -202.9797516742372, + 18.07504781787872, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -204.4797516742372, + 15.476971606525403, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.9797516742372, + 12.878895395172087, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -207.4797516742372, + 10.280819183818771, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -208.9797516742372, + 7.682742972465455, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -210.4797516742372, + 5.084666761112139, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -211.9797516742372, + 2.486590549758823, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -213.4797516742372, + -0.11148566159449302, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -214.9797516742372, + -2.709561872947809, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -216.4797516742372, + -5.307638084301125, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -217.9797516742372, + -7.905714295654441, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -219.4797516742372, + -10.503790507007757, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -220.9797516742372, + -13.101866718361073, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -222.4797516742372, + -15.699942929714389, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -223.9797516742372, + -18.298019141067705, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -225.4797516742372, + -20.89609535242102, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -226.9797516742372, + -23.494171563774337, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -228.4797516742372, + -26.092247775127653, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -229.9797516742372, + -28.69032398648097, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -231.4797516742372, + -31.288400197834285, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -232.9797516742372, + -33.8864764091876, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -234.4797516742372, + -36.48455262054092, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -235.9797516742372, + -39.08262883189423, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -237.4797516742372, + -41.68070504324755, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -238.9797516742372, + -44.278781254600865, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -240.4797516742372, + -46.87685746595418, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -241.9797516742372, + -49.4749336773075, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -243.4797516742372, + -52.07300988866081, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -244.9797516742372, + -54.67108610001413, + -2.835073686539924 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -244.9797516742372, + -54.67108610001413, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -247.57782788559052, + -56.17108610001413, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -250.17590409694384, + -57.67108610001413, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -252.77398030829715, + -59.17108610001413, + -2.835073686539924 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -252.77398030829715, + -59.17108610001413, + -2.835073686539924 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -252.77398030829715, + -59.17108610001413, + -2.835073686539924 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -252.77398030829715, + -59.17108610001413, + -2.835073686539924 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -252.77398030829715, + -59.17108610001413, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -251.27398030829715, + -61.769162311367445, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -249.77398030829715, + -64.36723852272075, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965965 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -248.27398030829715, + -66.96531473407407, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -246.77398030829715, + -69.56339094542739, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -245.27398030829715, + -72.1614671567807, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -243.77398030829715, + -74.75954336813402, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -242.27398030829715, + -77.35761957948733, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -240.77398030829715, + -79.95569579084065, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -239.27398030829715, + -82.55377200219397, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -237.77398030829715, + -85.15184821354728, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -236.27398030829715, + -87.7499244249006, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -234.77398030829715, + -90.34800063625391, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -233.27398030829715, + -92.94607684760723, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -231.77398030829715, + -95.54415305896055, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -230.27398030829715, + -98.14222927031386, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -228.77398030829715, + -100.74030548166718, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -227.27398030829715, + -103.3383816930205, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -225.77398030829715, + -105.93645790437381, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -224.27398030829715, + -108.53453411572713, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -222.77398030829715, + -111.13261032708044, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -221.27398030829715, + -113.73068653843376, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -219.77398030829715, + -116.32876274978707, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -218.27398030829715, + -118.92683896114039, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -216.77398030829715, + -121.5249151724937, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -215.27398030829715, + -124.12299138384702, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -213.77398030829715, + -126.72106759520034, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -212.27398030829715, + -129.31914380655365, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -210.77398030829715, + -131.91722001790697, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -209.27398030829715, + -134.5152962292603, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -207.77398030829715, + -137.1133724406136, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -206.27398030829715, + -139.71144865196692, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -204.77398030829715, + -142.30952486332023, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -203.27398030829715, + -144.90760107467355, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -201.77398030829715, + -147.50567728602687, + -2.835073686539924 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -201.77398030829715, + -147.50567728602687, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -201.77398030829715, + -150.50567728602687, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -201.77398030829715, + -153.50567728602687, + -2.835073686539924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -201.77398030829715, + -156.50567728602687, + -2.835073686539924 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-25-33_1727952741/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-25-33_1727952741/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0c57c818b52318450a139c388ea9e0831447a94 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-25-33_1727952741/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 428.8528981206558, + -331.9447408431429, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 430.3528981206558, + -329.34666463178957, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 431.8528981206558, + -326.74858842043625, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 433.3528981206558, + -324.15051220908293, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 434.8528981206558, + -321.5524359977296, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 436.3528981206558, + -318.9543597863763, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 437.8528981206558, + -316.356283575023, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 439.3528981206558, + -313.75820736366967, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 440.8528981206558, + -311.16013115231635, + 0.18585143809926663 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 440.8528981206558, + -311.16013115231635, + 0.18585143809926663 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 440.8528981206558, + -311.16013115231635, + 0.18585143809926663 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 440.8528981206558, + -311.16013115231635, + 0.18585143809926663 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 440.8528981206558, + -311.16013115231635, + 0.18585143809926663 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 440.8528981206558, + -311.16013115231635, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 442.3528981206558, + -313.75820736366967, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 443.8528981206558, + -316.356283575023, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 445.3528981206558, + -318.9543597863763, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 446.8528981206558, + -321.5524359977296, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 448.3528981206558, + -324.15051220908293, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 449.8528981206558, + -326.74858842043625, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 451.3528981206558, + -329.34666463178957, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 452.8528981206558, + -331.9447408431429, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.3528981206558, + -334.5428170544962, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 455.8528981206558, + -337.1408932658495, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 457.3528981206558, + -339.73896947720283, + 0.18585143809926663 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 457.3528981206558, + -339.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 459.95097433200914, + -341.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 462.54905054336245, + -342.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 465.14712675471577, + -344.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 467.7452029660691, + -345.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 470.3432791774224, + -347.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 472.9413553887757, + -348.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 475.53943160012903, + -350.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 478.13750781148235, + -351.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 480.73558402283567, + -353.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 483.333660234189, + -354.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 485.9317364455423, + -356.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 488.5298126568956, + -357.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 491.12788886824893, + -359.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 493.72596507960225, + -360.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 496.32404129095556, + -362.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 498.9221175023089, + -363.73896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 501.5201937136622, + -365.23896947720283, + 0.18585143809926663 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 504.1182699250155, + -366.73896947720283, + 0.18585143809926663 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-25-56_1091714937/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-25-56_1091714937/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e138e7e8a20bbfa6039c56dd07b7f9f7f5002ded --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-25-56_1091714937/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 53.97457304385665, + 114.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 53.97457304385665, + 111.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 53.97457304385665, + 108.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 53.97457304385665, + 105.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 53.97457304385665, + 102.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 53.97457304385665, + 99.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 53.97457304385665, + 96.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 53.97457304385665, + 93.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.97457304385665, + 90.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 53.97457304385665, + 87.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 53.97457304385665, + 84.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 53.97457304385665, + 81.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 53.97457304385665, + 78.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 53.97457304385665, + 75.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 53.97457304385665, + 72.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 53.97457304385665, + 69.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 53.97457304385665, + 66.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 53.97457304385665, + 63.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 53.97457304385665, + 60.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.97457304385665, + 57.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 53.97457304385665, + 54.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 53.97457304385665, + 51.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 53.97457304385665, + 48.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 53.97457304385665, + 45.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 53.97457304385665, + 42.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 53.97457304385665, + 39.9528053303399, + -3.09521822551366 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 53.97457304385665, + 39.9528053303399, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 52.47457304385665, + 37.35472911898658, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 50.97457304385665, + 34.75665290763327, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 49.47457304385665, + 32.15857669627995, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 47.97457304385665, + 29.560500484926635, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 46.47457304385665, + 26.96242427357332, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 44.97457304385665, + 24.364348062220003, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 43.47457304385665, + 21.766271850866687, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 41.97457304385665, + 19.16819563951337, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 40.47457304385665, + 16.570119428160055, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 38.97457304385665, + 13.972043216806739, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 37.47457304385665, + 11.373967005453423, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 35.97457304385665, + 8.775890794100107, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 34.47457304385665, + 6.177814582746791, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 34.47457304385665, + 6.177814582746791, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 34.47457304385665, + 6.177814582746791, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 34.47457304385665, + 6.177814582746791, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 34.47457304385665, + 6.177814582746791, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 34.47457304385665, + 6.177814582746791, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 34.47457304385665, + 6.177814582746791, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 37.07264925520997, + 7.677814582746791, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 39.67072546656328, + 9.177814582746791, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 42.2688016779166, + 10.677814582746791, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 44.866877889269915, + 12.177814582746791, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 47.46495410062323, + 13.677814582746791, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 50.06303031197655, + 15.177814582746791, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 52.66110652332986, + 16.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 55.25918273468318, + 18.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 57.857258946036495, + 19.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 60.45533515738981, + 21.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 63.05341136874313, + 22.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 65.65148758009644, + 24.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 68.24956379144976, + 25.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 70.84764000280308, + 27.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 73.44571621415639, + 28.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 76.04379242550971, + 30.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 78.64186863686302, + 31.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 81.23994484821634, + 33.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 83.83802105956966, + 34.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 86.43609727092297, + 36.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 89.03417348227629, + 37.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 91.6322496936296, + 39.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 94.23032590498292, + 40.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 96.82840211633624, + 42.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 99.42647832768955, + 43.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 102.02455453904287, + 45.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 104.62263075039618, + 46.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 107.2207069617495, + 48.17781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.81878317310282, + 49.67781458274679, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 109.81878317310282, + 49.67781458274679, + -3.09521822551366 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 109.81878317310282, + 49.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.81878317310282, + 52.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 109.81878317310282, + 55.67781458274679, + -3.09521822551366 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 109.81878317310282, + 58.67781458274679, + -3.09521822551366 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-26-32_1364180570/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-26-32_1364180570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fca9845c6e20fde98b6e27c55b06c649467e87d3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-26-32_1364180570/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.05454827954196, + -259.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 282.05454827954196, + -262.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 282.05454827954196, + -265.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 282.05454827954196, + -268.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 282.05454827954196, + -271.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 282.05454827954196, + -274.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 282.05454827954196, + -277.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 282.05454827954196, + -280.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.05454827954196, + -283.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 282.05454827954196, + -286.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 282.05454827954196, + -289.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 282.05454827954196, + -292.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 282.05454827954196, + -295.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 282.05454827954196, + -298.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 282.05454827954196, + -301.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 282.05454827954196, + -304.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 282.05454827954196, + -307.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 282.05454827954196, + -310.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 282.05454827954196, + -313.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 282.05454827954196, + -316.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 282.05454827954196, + -319.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 282.05454827954196, + -322.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 282.05454827954196, + -325.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 282.05454827954196, + -328.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 282.05454827954196, + -331.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 282.05454827954196, + -334.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 282.05454827954196, + -337.53794107428934, + -0.8340056696037284 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 282.05454827954196, + -337.53794107428934, + -0.8340056696037284 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 282.05454827954196, + -337.53794107428934, + -0.8340056696037284 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 282.05454827954196, + -337.53794107428934, + -0.8340056696037284 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 282.05454827954196, + -337.53794107428934, + -0.8340056696037284 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 282.05454827954196, + -337.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 284.6526244908953, + -336.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 287.2507007022486, + -334.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.8487769136019, + -333.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 292.4468531249552, + -331.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 295.04492933630854, + -330.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.64300554766186, + -328.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 300.2410817590152, + -327.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 302.8391579703685, + -325.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 305.4372341817218, + -324.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 308.0353103930751, + -322.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 310.63338660442844, + -321.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 313.23146281578175, + -319.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 315.82953902713507, + -318.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 318.4276152384884, + -316.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 321.0256914498417, + -315.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 323.623767661195, + -313.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 326.22184387254833, + -312.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 328.81992008390165, + -310.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 331.41799629525497, + -309.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 334.0160725066083, + -307.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 336.6141487179616, + -306.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 339.2122249293149, + -304.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 341.81030114066823, + -303.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 344.40837735202155, + -301.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 347.00645356337486, + -300.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 349.6045297747282, + -298.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 352.2026059860815, + -297.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 354.8006821974348, + -295.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 357.3987584087881, + -294.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 359.99683462014144, + -292.53794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 362.59491083149476, + -291.03794107428934, + -0.8340056696037284 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 362.59491083149476, + -291.03794107428934, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 364.09491083149476, + -288.439864862936, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 365.59491083149476, + -285.8417886515827, + -0.8340056696037284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 367.09491083149476, + -283.2437124402294, + -0.8340056696037284 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-30-23_730199492/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-30-23_730199492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..064ee563996ad3de0918b2d85feabc0a6f5fcddf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-30-23_730199492/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 387.83093818786745, + -174.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 387.83093818786745, + -177.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 387.83093818786745, + -180.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 387.83093818786745, + -183.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 387.83093818786745, + -186.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 387.83093818786745, + -189.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 387.83093818786745, + -192.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 387.83093818786745, + -195.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 387.83093818786745, + -198.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 387.83093818786745, + -201.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 387.83093818786745, + -204.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 387.83093818786745, + -207.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 387.83093818786745, + -210.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 387.83093818786745, + -213.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 387.83093818786745, + -216.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 387.83093818786745, + -219.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 387.83093818786745, + -222.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 387.83093818786745, + -225.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 387.83093818786745, + -228.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 387.83093818786745, + -231.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 387.83093818786745, + -234.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 387.83093818786745, + -237.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 387.83093818786745, + -240.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 387.83093818786745, + -243.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 387.83093818786745, + -246.29199905470364, + 3.7365172805529507 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 387.83093818786745, + -246.29199905470364, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 386.33093818786745, + -248.89007526605695, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 384.83093818786745, + -251.48815147741027, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 383.33093818786745, + -254.08622768876359, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 381.83093818786745, + -256.6843039001169, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 380.33093818786745, + -259.2823801114702, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 378.83093818786745, + -261.88045632282353, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 377.33093818786745, + -264.47853253417685, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 375.83093818786745, + -267.07660874553017, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 374.33093818786745, + -269.6746849568835, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 372.83093818786745, + -272.2727611682368, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 371.33093818786745, + -274.8708373795901, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 369.83093818786745, + -277.46891359094343, + 3.7365172805529507 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 369.83093818786745, + -277.46891359094343, + 3.7365172805529507 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 369.83093818786745, + -277.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 367.23286197651413, + -278.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 364.6347857651608, + -280.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 362.0367095538075, + -281.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 359.4386333424542, + -283.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 356.84055713110087, + -284.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 354.24248091974755, + -286.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 351.64440470839423, + -287.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 349.0463284970409, + -289.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 346.4482522856876, + -290.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 343.8501760743343, + -292.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 341.25209986298097, + -293.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 338.65402365162765, + -295.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 336.05594744027434, + -296.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 333.457871228921, + -298.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 330.8597950175677, + -299.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 328.2617188062144, + -301.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 325.6636425948611, + -302.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 323.06556638350776, + -304.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 320.46749017215444, + -305.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 317.8694139608011, + -307.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 315.2713377494478, + -308.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 312.6732615380945, + -310.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 310.0751853267412, + -311.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 307.47710911538786, + -313.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 304.87903290403455, + -314.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 302.28095669268123, + -316.46891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 299.6828804813279, + -317.96891359094343, + 3.7365172805529507 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 299.6828804813279, + -317.96891359094343, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 298.1828804813279, + -320.56698980229675, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 296.6828804813279, + -323.16506601365006, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 295.1828804813279, + -325.7631422250034, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 293.6828804813279, + -328.3612184363567, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 292.1828804813279, + -330.95929464771, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 290.6828804813279, + -333.5573708590633, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 289.1828804813279, + -336.15544707041664, + 3.7365172805529507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 287.6828804813279, + -338.75352328176996, + 3.7365172805529507 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-30-57_1154615609/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-30-57_1154615609/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0ae4f0483b0b12b064c240c32099c9ceae7141a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-30-57_1154615609/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 837.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 840.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 843.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 846.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 849.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 852.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 855.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 858.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 861.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 864.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 867.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 870.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 873.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 876.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 879.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 879.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 879.9588571680738, + -290.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 881.4588571680738, + -288.19751985986295, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 882.9588571680738, + -285.59944364850963, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 884.4588571680738, + -283.0013674371563, + -3.5172591844888235 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 884.4588571680738, + -283.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 887.0569333794272, + -281.5013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 889.6550095907805, + -280.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 892.2530858021339, + -278.5013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 894.8511620134873, + -277.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 897.4492382248407, + -275.5013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 900.047314436194, + -274.0013674371563, + -3.5172591844888235 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 900.047314436194, + -274.0013674371563, + -3.5172591844888235 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 900.047314436194, + -274.0013674371563, + -3.5172591844888235 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 900.047314436194, + -274.0013674371563, + -3.5172591844888235 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 900.047314436194, + -274.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 900.047314436194, + -277.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 900.047314436194, + -280.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 900.047314436194, + -283.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 900.047314436194, + -286.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 900.047314436194, + -289.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 900.047314436194, + -292.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 900.047314436194, + -295.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 900.047314436194, + -298.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 900.047314436194, + -301.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 900.047314436194, + -304.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 900.047314436194, + -307.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 900.047314436194, + -310.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 900.047314436194, + -313.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 900.047314436194, + -316.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 900.047314436194, + -319.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 900.047314436194, + -322.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 900.047314436194, + -325.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 900.047314436194, + -328.0013674371563, + -3.5172591844888235 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 900.047314436194, + -328.0013674371563, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 898.547314436194, + -330.59944364850963, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 897.047314436194, + -333.19751985986295, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 895.547314436194, + -335.79559607121627, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 894.047314436194, + -338.3936722825696, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 892.547314436194, + -340.9917484939229, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 891.047314436194, + -343.5898247052762, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 889.547314436194, + -346.18790091662953, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 888.047314436194, + -348.78597712798285, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 886.547314436194, + -351.38405333933616, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 885.047314436194, + -353.9821295506895, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 883.547314436194, + -356.5802057620428, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 882.047314436194, + -359.1782819733961, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 880.547314436194, + -361.7763581847494, + -3.5172591844888235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 879.047314436194, + -364.37443439610274, + -3.5172591844888235 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-32-27_1702022939/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-32-27_1702022939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65715ce5a16e9ca4deb99c740061f975da94f14b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-32-27_1702022939/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -196.40925506217738, + -339.7970627405328, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -194.90925506217738, + -337.1989865291795, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -193.40925506217738, + -334.60091031782616, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -191.90925506217738, + -332.00283410647285, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -190.40925506217738, + -329.40475789511953, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -188.90925506217738, + -326.8066816837662, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -187.40925506217738, + -324.2086054724129, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.90925506217738, + -321.6105292610596, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -184.40925506217738, + -319.01245304970627, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -182.90925506217738, + -316.41437683835295, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -181.40925506217738, + -313.81630062699963, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -179.90925506217738, + -311.2182244156463, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -178.40925506217738, + -308.620148204293, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -176.90925506217738, + -306.0220719929397, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -175.40925506217738, + -303.42399578158637, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -173.90925506217738, + -300.82591957023305, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -172.40925506217738, + -298.22784335887974, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -170.90925506217738, + -295.6297671475264, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -169.40925506217738, + -293.0316909361731, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -167.90925506217738, + -290.4336147248198, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -166.40925506217738, + -287.8355385134665, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -164.90925506217738, + -285.23746230211316, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -163.40925506217738, + -282.63938609075984, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -161.90925506217738, + -280.0413098794065, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -160.40925506217738, + -277.4432336680532, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -158.90925506217738, + -274.8451574566999, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -157.40925506217738, + -272.2470812453466, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -155.90925506217738, + -269.64900503399326, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -154.40925506217738, + -267.05092882263995, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -152.90925506217738, + -264.45285261128663, + 0.9572944136821535 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -152.90925506217738, + -264.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -152.90925506217738, + -261.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -152.90925506217738, + -258.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -152.90925506217738, + -255.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -152.90925506217738, + -252.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -152.90925506217738, + -249.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.90925506217738, + -246.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -152.90925506217738, + -243.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -152.90925506217738, + -240.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -152.90925506217738, + -237.45285261128663, + 0.9572944136821535 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -152.90925506217738, + -237.45285261128663, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -154.40925506217738, + -234.85477639993331, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -155.90925506217738, + -232.25670018858, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -157.40925506217738, + -229.65862397722668, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -158.90925506217738, + -227.06054776587337, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -160.40925506217738, + -224.46247155452005, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -161.90925506217738, + -221.86439534316673, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -163.40925506217738, + -219.26631913181342, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -164.90925506217738, + -216.6682429204601, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -166.40925506217738, + -214.0701667091068, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -167.90925506217738, + -211.47209049775347, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -169.40925506217738, + -208.87401428640015, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -170.90925506217738, + -206.27593807504684, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -172.40925506217738, + -203.67786186369352, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -173.90925506217738, + -201.0797856523402, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -175.40925506217738, + -198.4817094409869, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -176.90925506217738, + -195.88363322963357, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -178.40925506217738, + -193.28555701828026, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -179.90925506217738, + -190.68748080692694, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -181.40925506217738, + -188.08940459557363, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -182.90925506217738, + -185.4913283842203, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -184.40925506217738, + -182.893252172867, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -185.90925506217738, + -180.29517596151368, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -187.40925506217738, + -177.69709975016036, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -188.90925506217738, + -175.09902353880705, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -190.40925506217738, + -172.50094732745373, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -191.90925506217738, + -169.9028711161004, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -193.40925506217738, + -167.3047949047471, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -194.90925506217738, + -164.70671869339378, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -196.40925506217738, + -162.10864248204047, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -197.90925506217738, + -159.51056627068715, + 0.9572944136821535 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -197.90925506217738, + -159.51056627068715, + 0.9572944136821535 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -197.90925506217738, + -159.51056627068715, + 0.9572944136821535 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -200.90925506217738, + -159.51056627068715, + 0.9572944136821535 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-36-53_127052251/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-36-53_127052251/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5dc97319e24ab7b238114312340a24bac991591 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-36-53_127052251/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 35.54908862655765, + 17.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 38.147164837910964, + 18.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 40.74524104926428, + 20.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 43.343317260617596, + 21.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.94139347197091, + 23.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 48.53946968332423, + 24.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 51.137545894677544, + 26.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 53.73562210603086, + 27.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 56.333698317384176, + 29.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 58.93177452873749, + 30.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 61.52985074009081, + 32.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 64.12792695144412, + 33.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 66.72600316279744, + 35.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.32407937415076, + 36.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 71.92215558550407, + 38.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 74.52023179685739, + 39.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 77.1183080082107, + 41.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 79.71638421956402, + 42.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 82.31446043091734, + 44.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 84.91253664227065, + 45.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 87.51061285362397, + 47.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 90.10868906497728, + 48.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 92.7067652763306, + 50.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 95.30484148768392, + 51.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 97.90291769903723, + 53.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 100.50099391039055, + 54.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 103.09907012174386, + 56.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 105.69714633309718, + 57.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 108.2952225444505, + 59.193960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 110.89329875580381, + 60.693960367741106, + 3.639558227943578 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 110.89329875580381, + 60.693960367741106, + 3.639558227943578 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 110.89329875580381, + 60.693960367741106, + 3.639558227943578 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 110.89329875580381, + 60.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 110.89329875580381, + 63.693960367741106, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 110.89329875580381, + 66.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 110.89329875580381, + 69.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 110.89329875580381, + 72.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 110.89329875580381, + 75.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 110.89329875580381, + 78.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 110.89329875580381, + 81.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 110.89329875580381, + 84.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 110.89329875580381, + 87.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 110.89329875580381, + 90.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 110.89329875580381, + 93.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 110.89329875580381, + 96.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 110.89329875580381, + 99.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 110.89329875580381, + 102.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 110.89329875580381, + 105.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 110.89329875580381, + 108.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 110.89329875580381, + 111.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 110.89329875580381, + 114.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 110.89329875580381, + 117.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 110.89329875580381, + 120.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 110.89329875580381, + 123.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 110.89329875580381, + 126.69396036774111, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 110.89329875580381, + 129.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 110.89329875580381, + 132.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 110.89329875580381, + 135.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 110.89329875580381, + 138.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 110.89329875580381, + 141.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 110.89329875580381, + 144.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 110.89329875580381, + 147.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 110.89329875580381, + 150.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 110.89329875580381, + 153.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 110.89329875580381, + 156.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 110.89329875580381, + 159.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 110.89329875580381, + 162.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 110.89329875580381, + 165.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 110.89329875580381, + 168.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 110.89329875580381, + 171.6939603677411, + 3.639558227943578 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 110.89329875580381, + 174.6939603677411, + 3.639558227943578 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-37-26_64564349/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-37-26_64564349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..215adc3ae0b74dfe7082dad6cf288fd355ac16e1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-37-26_64564349/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 22.623887253942513, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 25.623887253942513, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 28.623887253942513, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 31.623887253942513, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 34.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 37.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 40.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 43.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 46.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 49.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 52.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 55.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 58.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 61.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 64.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 67.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 70.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 79.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 82.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 85.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 88.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 91.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 94.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 94.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 94.62388725394251, + 73.14233614595423, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 96.12388725394251, + 70.54425993460092, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 97.62388725394251, + 67.9461837232476, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 99.12388725394251, + 65.34810751189428, + 3.432882555124632 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 99.12388725394251, + 65.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 101.72196346529583, + 63.848107511894284, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 104.32003967664915, + 62.348107511894284, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 106.91811588800246, + 60.848107511894284, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 109.51619209935578, + 59.348107511894284, + 3.432882555124632 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 109.51619209935578, + 59.348107511894284, + 3.432882555124632 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 109.51619209935578, + 59.348107511894284, + 3.432882555124632 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 109.51619209935578, + 59.348107511894284, + 3.432882555124632 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 109.51619209935578, + 59.348107511894284, + 3.432882555124632 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 109.51619209935578, + 59.348107511894284, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 109.51619209935578, + 62.348107511894284, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 109.51619209935578, + 65.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 109.51619209935578, + 68.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 109.51619209935578, + 71.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 109.51619209935578, + 74.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 109.51619209935578, + 77.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 109.51619209935578, + 80.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 109.51619209935578, + 83.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 109.51619209935578, + 86.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 109.51619209935578, + 89.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 109.51619209935578, + 92.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 109.51619209935578, + 95.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 109.51619209935578, + 98.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 109.51619209935578, + 101.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 109.51619209935578, + 104.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 109.51619209935578, + 107.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 109.51619209935578, + 110.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 109.51619209935578, + 113.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 109.51619209935578, + 116.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 109.51619209935578, + 119.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 109.51619209935578, + 122.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 109.51619209935578, + 125.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 109.51619209935578, + 128.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 109.51619209935578, + 131.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 109.51619209935578, + 134.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 109.51619209935578, + 137.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 109.51619209935578, + 140.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 109.51619209935578, + 143.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 109.51619209935578, + 146.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 109.51619209935578, + 149.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 109.51619209935578, + 152.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 109.51619209935578, + 155.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 109.51619209935578, + 158.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 109.51619209935578, + 161.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.51619209935578, + 164.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 109.51619209935578, + 167.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 109.51619209935578, + 170.34810751189428, + 3.432882555124632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.51619209935578, + 173.34810751189428, + 3.432882555124632 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-38-2_928682751/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-38-2_928682751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66ca49bd92401ea4efc02dde8c8361eb0946a637 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-38-2_928682751/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1472.8622727611264, + -157.87575702899716, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1471.3622727611264, + -155.27768081764384, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1469.8622727611264, + -152.67960460629052, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1468.3622727611264, + -150.0815283949372, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1466.8622727611264, + -147.4834521835839, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1465.3622727611264, + -144.88537597223058, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1463.8622727611264, + -142.28729976087726, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1462.3622727611264, + -139.68922354952394, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1460.8622727611264, + -137.09114733817063, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1459.3622727611264, + -134.4930711268173, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1457.8622727611264, + -131.894994915464, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1456.3622727611264, + -129.29691870411068, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1454.8622727611264, + -126.69884249275736, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1453.3622727611264, + -124.10076628140405, + -3.189524896158493 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1453.3622727611264, + -124.10076628140405, + -3.189524896158493 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1453.3622727611264, + -124.10076628140405, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1454.8622727611264, + -121.50269007005073, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1456.3622727611264, + -118.90461385869742, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1457.8622727611264, + -116.3065376473441, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1459.3622727611264, + -113.70846143599078, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1460.8622727611264, + -111.11038522463747, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1462.3622727611264, + -108.51230901328415, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1463.8622727611264, + -105.91423280193084, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1465.3622727611264, + -103.31615659057752, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1466.8622727611264, + -100.7180803792242, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1468.3622727611264, + -98.12000416787089, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1469.8622727611264, + -95.52192795651757, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1471.3622727611264, + -92.92385174516426, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1472.8622727611264, + -90.32577553381094, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1474.3622727611264, + -87.72769932245762, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1475.8622727611264, + -85.12962311110431, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1477.3622727611264, + -82.53154689975099, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1478.8622727611264, + -79.93347068839768, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1480.3622727611264, + -77.33539447704436, + -3.189524896158493 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1480.3622727611264, + -77.33539447704436, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1482.9603489724798, + -75.83539447704436, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1485.5584251838332, + -74.33539447704436, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1488.1565013951865, + -72.83539447704436, + -3.189524896158493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1490.75457760654, + -71.33539447704436, + -3.189524896158493 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-40-25_1551291986/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-40-25_1551291986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..148f6d67ced57c2aa396567b8a0370702edbeb90 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-40-25_1551291986/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 41.45745905339788, + -19.30306167950863, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 42.95745905339788, + -16.704985468155314, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 44.45745905339788, + -14.106909256801998, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.95745905339788, + -11.508833045448682, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.45745905339788, + -8.910756834095366, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 48.95745905339788, + -6.31268062274205, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 50.45745905339788, + -3.714604411388734, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 51.95745905339788, + -1.1165282000354182, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.45745905339788, + 1.4815480113178978, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 54.95745905339788, + 4.079624222671214, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 56.45745905339788, + 6.67770043402453, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 57.95745905339788, + 9.275776645377846, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 59.45745905339788, + 11.873852856731162, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.95745905339788, + 14.471929068084478, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 62.45745905339788, + 17.070005279437794, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 63.95745905339788, + 19.66808149079111, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 65.45745905339788, + 22.266157702144426, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 66.95745905339788, + 24.864233913497742, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 68.45745905339788, + 27.462310124851058, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 69.95745905339788, + 30.060386336204374, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 71.45745905339788, + 32.65846254755769, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 72.95745905339788, + 35.256538758911006, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.45745905339788, + 37.85461497026432, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 75.95745905339788, + 40.45269118161764, + 2.61355498015598 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 75.95745905339788, + 40.45269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 78.5555352647512, + 41.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 81.15361147610452, + 43.45269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 83.75168768745783, + 44.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 86.34976389881115, + 46.45269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 88.94784011016446, + 47.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 91.54591632151778, + 49.45269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 94.1439925328711, + 50.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 96.74206874422441, + 52.45269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 99.34014495557773, + 53.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 101.93822116693104, + 55.45269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 104.53629737828436, + 56.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 107.13437358963768, + 58.45269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 109.73244980099099, + 59.95269118161764, + 2.61355498015598 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 109.73244980099099, + 59.95269118161764, + 2.61355498015598 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 109.73244980099099, + 59.95269118161764, + 2.61355498015598 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 109.73244980099099, + 59.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 109.73244980099099, + 62.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 109.73244980099099, + 65.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 109.73244980099099, + 68.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 109.73244980099099, + 71.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 109.73244980099099, + 74.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 109.73244980099099, + 77.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 109.73244980099099, + 80.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 109.73244980099099, + 83.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 109.73244980099099, + 86.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 109.73244980099099, + 89.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 109.73244980099099, + 92.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 109.73244980099099, + 95.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 109.73244980099099, + 98.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 109.73244980099099, + 101.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 109.73244980099099, + 104.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 109.73244980099099, + 107.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 109.73244980099099, + 110.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 109.73244980099099, + 113.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 109.73244980099099, + 116.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 109.73244980099099, + 119.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 109.73244980099099, + 122.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 109.73244980099099, + 125.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 109.73244980099099, + 128.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 109.73244980099099, + 131.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 109.73244980099099, + 134.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 109.73244980099099, + 137.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 109.73244980099099, + 140.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 109.73244980099099, + 143.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 109.73244980099099, + 146.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 109.73244980099099, + 149.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 109.73244980099099, + 152.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 109.73244980099099, + 155.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 109.73244980099099, + 158.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.73244980099099, + 161.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 109.73244980099099, + 164.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 109.73244980099099, + 167.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.73244980099099, + 170.95269118161764, + 2.61355498015598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 109.73244980099099, + 173.95269118161764, + 2.61355498015598 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-42-10_1131761079/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-42-10_1131761079/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77c5308ce16f6e05cfb85f388e15bcd8a7b93a0c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-42-10_1131761079/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1565.3973343827652, + 67.33160207528654, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1563.8973343827652, + 64.73352586393322, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1562.3973343827652, + 62.13544965257991, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1560.8973343827652, + 59.53737344122659, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1559.3973343827652, + 56.939297229873276, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1557.8973343827652, + 54.34122101851996, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1556.3973343827652, + 51.743144807166644, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1554.8973343827652, + 49.14506859581333, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1553.3973343827652, + 46.54699238446001, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1551.8973343827652, + 43.948916173106696, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1550.3973343827652, + 41.35083996175338, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1548.8973343827652, + 38.752763750400064, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1547.3973343827652, + 36.15468753904675, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1545.8973343827652, + 33.55661132769343, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1544.3973343827652, + 30.958535116340116, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1542.8973343827652, + 28.3604589049868, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1541.3973343827652, + 25.762382693633484, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1539.8973343827652, + 23.164306482280168, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1538.3973343827652, + 20.56623027092685, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1536.8973343827652, + 17.968154059573536, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1535.3973343827652, + 15.37007784822022, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1533.8973343827652, + 12.772001636866904, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1532.3973343827652, + 10.173925425513588, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1530.8973343827652, + 7.575849214160272, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1529.3973343827652, + 4.977773002806956, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1527.8973343827652, + 2.3796967914536395, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1526.3973343827652, + -0.21837941989967646, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1524.8973343827652, + -2.8164556312529925, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1523.3973343827652, + -5.4145318426063085, + -2.8223512928638557 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1523.3973343827652, + -5.4145318426063085, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1523.3973343827652, + -8.414531842606308, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1523.3973343827652, + -11.414531842606308, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1523.3973343827652, + -14.414531842606308, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1523.3973343827652, + -17.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1523.3973343827652, + -20.41453184260631, + -2.8223512928638557 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1523.3973343827652, + -20.41453184260631, + -2.8223512928638557 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1523.3973343827652, + -20.41453184260631, + -2.8223512928638557 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1523.3973343827652, + -20.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1520.7992581714118, + -21.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1518.2011819600584, + -23.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1515.603105748705, + -24.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1513.0050295373517, + -26.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1510.4069533259983, + -27.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1507.808877114645, + -29.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1505.2108009032916, + -30.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1502.6127246919382, + -32.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1500.0146484805848, + -33.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1497.4165722692314, + -35.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1494.818496057878, + -36.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1492.2204198465247, + -38.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1489.6223436351713, + -39.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1487.024267423818, + -41.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1484.4261912124646, + -42.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1481.8281150011112, + -44.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1479.2300387897578, + -45.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1476.6319625784045, + -47.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1474.033886367051, + -48.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1471.4358101556977, + -50.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1468.8377339443443, + -51.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1466.239657732991, + -53.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1463.6415815216376, + -54.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1461.0435053102842, + -56.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1458.4454290989308, + -57.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1455.8473528875775, + -59.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1453.249276676224, + -60.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1450.6512004648707, + -62.41453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1448.0531242535174, + -63.91453184260631, + -2.8223512928638557 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1448.0531242535174, + -63.91453184260631, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1446.5531242535174, + -66.51260805395962, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1445.0531242535174, + -69.11068426531294, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1443.5531242535174, + -71.70876047666626, + -2.8223512928638557 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1442.0531242535174, + -74.30683668801957, + -2.8223512928638557 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-42-43_1076919591/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-42-43_1076919591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76cb2567d9e402609183fcb390c3a98cbd11e675 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-42-43_1076919591/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -386.30688408391035, + -188.2752431670434, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -384.80688408391035, + -185.6771669556901, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -383.30688408391035, + -183.07909074433678, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -381.80688408391035, + -180.48101453298347, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -380.30688408391035, + -177.88293832163015, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -378.80688408391035, + -175.28486211027683, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -377.30688408391035, + -172.68678589892352, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -375.80688408391035, + -170.0887096875702, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -374.30688408391035, + -167.49063347621689, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -372.80688408391035, + -164.89255726486357, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -371.30688408391035, + -162.29448105351025, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -369.80688408391035, + -159.69640484215694, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -368.30688408391035, + -157.09832863080362, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -366.80688408391035, + -154.5002524194503, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -365.30688408391035, + -151.902176208097, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -363.80688408391035, + -149.30409999674367, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -362.30688408391035, + -146.70602378539036, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -360.80688408391035, + -144.10794757403704, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -359.30688408391035, + -141.50987136268373, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -357.80688408391035, + -138.9117951513304, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -356.30688408391035, + -136.3137189399771, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -354.80688408391035, + -133.71564272862378, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -353.30688408391035, + -131.11756651727046, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -351.80688408391035, + -128.51949030591715, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -350.30688408391035, + -125.92141409456383, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -348.80688408391035, + -123.32333788321051, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -347.30688408391035, + -120.7252616718572, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -345.80688408391035, + -118.12718546050388, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -344.30688408391035, + -115.52910924915057, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -342.80688408391035, + -112.93103303779725, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -341.30688408391035, + -110.33295682644393, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -339.80688408391035, + -107.73488061509062, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -338.30688408391035, + -105.1368044037373, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -336.80688408391035, + -102.53872819238399, + 2.3543749319204625 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -336.80688408391035, + -102.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -336.80688408391035, + -99.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -336.80688408391035, + -96.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -336.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -336.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -336.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -336.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -336.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -333.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -330.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -327.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -324.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -321.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -318.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -315.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -312.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -312.80688408391035, + -93.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -310.20880787255703, + -92.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -307.6107316612037, + -90.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -305.0126554498504, + -89.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -302.4145792384971, + -87.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -299.81650302714377, + -86.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -297.21842681579045, + -84.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -294.62035060443714, + -83.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -292.0222743930838, + -81.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -289.4241981817305, + -80.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -286.8261219703772, + -78.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -284.22804575902387, + -77.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -281.62996954767056, + -75.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -279.03189333631724, + -74.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -276.4338171249639, + -72.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -273.8357409136106, + -71.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -271.2376647022573, + -69.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -268.639588490904, + -68.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -266.04151227955066, + -66.53872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -263.44343606819734, + -65.03872819238399, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -260.845359856844, + -63.538728192383985, + 2.3543749319204625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -258.2472836454907, + -62.038728192383985, + 2.3543749319204625 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-45-27_107939561/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-45-27_107939561/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22e6d18f6d747bbfe7889c5b71de2677301c06ef --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-45-27_107939561/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -51.19544058610154, + -672.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -53.793516797454856, + -674.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -56.39159300880817, + -675.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -58.98966922016149, + -677.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -61.587745431514804, + -678.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -64.18582164286812, + -680.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -66.78389785422144, + -681.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -69.38197406557475, + -683.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -71.98005027692807, + -684.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -74.57812648828138, + -686.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.1762026996347, + -687.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -79.77427891098802, + -689.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -82.37235512234133, + -690.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -84.97043133369465, + -692.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -87.56850754504796, + -693.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -90.16658375640128, + -695.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -92.7646599677546, + -696.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -95.36273617910791, + -698.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -97.96081239046123, + -699.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -100.55888860181454, + -701.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -103.15696481316786, + -702.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -105.75504102452118, + -704.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -108.35311723587449, + -705.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -110.95119344722781, + -707.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -113.54926965858112, + -708.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -116.14734586993444, + -710.3227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -118.74542208128776, + -711.8227000174585, + -4.408580397755309 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -118.74542208128776, + -711.8227000174585, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -120.24542208128776, + -714.4207762288117, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -121.74542208128776, + -717.0188524401651, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -123.24542208128776, + -719.6169286515185, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -124.74542208128776, + -722.2150048628719, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -126.24542208128776, + -724.8130810742252, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.74542208128776, + -727.4111572855786, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -129.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -129.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -129.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -126.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -123.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -120.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -117.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -114.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -111.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -108.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -105.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -102.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -99.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -96.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -93.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -90.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -87.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -84.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -81.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -78.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -75.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -72.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -69.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -66.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -63.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -60.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -57.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -54.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -51.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -48.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -45.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -42.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -39.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -36.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -36.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -36.24542208128776, + -730.009233496932, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -34.74542208128776, + -727.4111572855786, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -33.24542208128776, + -724.8130810742252, + -4.408580397755309 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -33.24542208128776, + -724.8130810742252, + -4.408580397755309 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -30.64734586993444, + -723.3130810742252, + -4.408580397755309 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-46-11_44804919/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-46-11_44804919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91eedcd23711556facf45d0268a42113e1bdfe4f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-46-11_44804919/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -366.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -363.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -360.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -357.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -354.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -351.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -348.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -345.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -342.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -339.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -339.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -339.05131301778897, + 94.52992756270388, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -337.55131301778897, + 91.93185135135056, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -336.05131301778897, + 89.33377513999724, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -334.55131301778897, + 86.73569892864393, + -0.7528521620369375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -334.55131301778897, + 86.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -331.95323680643565, + 85.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.35516059508234, + 83.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -326.757084383729, + 82.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -324.1590081723757, + 80.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -321.5609319610224, + 79.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -318.9628557496691, + 77.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -316.36477953831576, + 76.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -313.76670332696244, + 74.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -311.1686271156091, + 73.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -308.5705509042558, + 71.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -305.9724746929025, + 70.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -303.3743984815492, + 68.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -300.77632227019586, + 67.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -298.17824605884255, + 65.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -295.58016984748923, + 64.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -292.9820936361359, + 62.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -290.3840174247826, + 61.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -287.7859412134293, + 59.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -285.18786500207597, + 58.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -282.58978879072265, + 56.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -279.99171257936933, + 55.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -277.393636368016, + 53.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -274.7955601566627, + 52.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -272.1974839453094, + 50.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -269.59940773395607, + 49.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -267.00133152260275, + 47.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -264.40325531124944, + 46.23569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -261.8051790998961, + 44.73569892864393, + -0.7528521620369375 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -261.8051790998961, + 44.73569892864393, + -0.7528521620369375 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -261.8051790998961, + 44.73569892864393, + -0.7528521620369375 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -261.8051790998961, + 44.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -261.8051790998961, + 41.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -261.8051790998961, + 38.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -261.8051790998961, + 35.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -261.8051790998961, + 32.73569892864393, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -261.8051790998961, + 29.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -261.8051790998961, + 26.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -261.8051790998961, + 23.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -261.8051790998961, + 20.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -261.8051790998961, + 17.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -261.8051790998961, + 14.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -261.8051790998961, + 11.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -261.8051790998961, + 8.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -261.8051790998961, + 5.735698928643927, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -261.8051790998961, + 2.7356989286439273, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -261.8051790998961, + -0.2643010713560727, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -261.8051790998961, + -3.2643010713560727, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -261.8051790998961, + -6.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -261.8051790998961, + -9.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -261.8051790998961, + -12.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -261.8051790998961, + -15.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -261.8051790998961, + -18.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -261.8051790998961, + -21.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -261.8051790998961, + -24.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -261.8051790998961, + -27.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -261.8051790998961, + -30.264301071356073, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -261.8051790998961, + -33.26430107135607, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -261.8051790998961, + -36.26430107135607, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -261.8051790998961, + -39.26430107135607, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -261.8051790998961, + -42.26430107135607, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -261.8051790998961, + -45.26430107135607, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -261.8051790998961, + -48.26430107135607, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -261.8051790998961, + -51.26430107135607, + -0.7528521620369375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -261.8051790998961, + -51.26430107135607, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -260.3051790998961, + -53.86237728270939, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -258.8051790998961, + -56.460453494062705, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -257.3051790998961, + -59.05852970541602, + -0.7528521620369375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -255.80517909989612, + -61.65660591676934, + -0.7528521620369375 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-46-49_1029621931/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-46-49_1029621931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4933d037b599c820d68744601a310adf62a1020 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-46-49_1029621931/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 180.00445568858308, + 224.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 177.40637947722976, + 222.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 174.80830326587645, + 221.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 172.21022705452313, + 219.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 169.61215084316981, + 218.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 167.0140746318165, + 216.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 164.41599842046318, + 215.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 161.81792220910987, + 213.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 159.21984599775655, + 212.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 156.62176978640323, + 210.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 154.02369357504992, + 209.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 151.4256173636966, + 207.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 148.8275411523433, + 206.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 146.22946494098997, + 204.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 143.63138872963665, + 203.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 141.03331251828334, + 201.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 138.43523630693002, + 200.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 135.8371600955767, + 198.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 133.2390838842234, + 197.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 130.64100767287007, + 195.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 128.04293146151676, + 194.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 125.44485525016344, + 192.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 122.84677903881013, + 191.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 120.24870282745681, + 189.7000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 117.6506266161035, + 188.2000474840436, + -2.235399949557225 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 117.6506266161035, + 188.2000474840436, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 116.1506266161035, + 185.6019712726903, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 114.6506266161035, + 183.00389506133698, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 113.1506266161035, + 180.40581884998366, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 111.6506266161035, + 177.80774263863034, + -2.235399949557225 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 111.6506266161035, + 177.80774263863034, + -2.235399949557225 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 111.6506266161035, + 177.80774263863034, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 113.1506266161035, + 175.20966642727703, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 114.6506266161035, + 172.6115902159237, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 116.1506266161035, + 170.0135140045704, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 117.6506266161035, + 167.41543779321708, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 119.1506266161035, + 164.81736158186376, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 120.6506266161035, + 162.21928537051045, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 122.1506266161035, + 159.62120915915713, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 123.6506266161035, + 157.02313294780382, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 125.1506266161035, + 154.4250567364505, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 126.6506266161035, + 151.82698052509718, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 128.1506266161035, + 149.22890431374387, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 129.6506266161035, + 146.63082810239055, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 131.1506266161035, + 144.03275189103724, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 132.6506266161035, + 141.43467567968392, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 134.1506266161035, + 138.8365994683306, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 135.6506266161035, + 136.2385232569773, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 137.1506266161035, + 133.64044704562397, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 138.6506266161035, + 131.04237083427066, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 140.1506266161035, + 128.44429462291734, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 141.6506266161035, + 125.84621841156402, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 143.1506266161035, + 123.24814220021071, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 144.6506266161035, + 120.65006598885739, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 146.1506266161035, + 118.05198977750408, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 147.6506266161035, + 115.45391356615076, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 149.1506266161035, + 112.85583735479744, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 150.6506266161035, + 110.25776114344413, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 152.1506266161035, + 107.65968493209081, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 153.6506266161035, + 105.0616087207375, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 155.1506266161035, + 102.46353250938418, + -2.235399949557225 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 155.1506266161035, + 102.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 155.1506266161035, + 99.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 155.1506266161035, + 96.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 155.1506266161035, + 93.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 155.1506266161035, + 90.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 155.1506266161035, + 87.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 155.1506266161035, + 84.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 155.1506266161035, + 81.46353250938418, + -2.235399949557225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 155.1506266161035, + 78.46353250938418, + -2.235399949557225 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-47-24_838139053/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-47-24_838139053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c66896ab6c6c9154724d1ebc91d1803acff54a76 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-47-24_838139053/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 964.1822547301128, + -459.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 961.5841785187595, + -458.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 958.9861023074061, + -456.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 956.3880260960527, + -455.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 953.7899498846994, + -453.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 951.191873673346, + -452.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 948.5937974619926, + -450.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 945.9957212506392, + -449.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 943.3976450392859, + -447.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 940.7995688279325, + -446.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 938.2014926165791, + -444.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 935.6034164052257, + -443.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 933.0053401938724, + -441.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 930.407263982519, + -440.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 927.8091877711656, + -438.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 925.2111115598123, + -437.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 922.6130353484589, + -435.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 920.0149591371055, + -434.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 917.4168829257521, + -432.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 914.8188067143988, + -431.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 912.2207305030454, + -429.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 909.622654291692, + -428.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 907.0245780803386, + -426.52979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 904.4265018689853, + -425.02979435176405, + 3.8268267711002792 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 904.4265018689853, + -425.02979435176405, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 902.9265018689853, + -422.43171814041074, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 901.4265018689853, + -419.8336419290574, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 899.9265018689853, + -417.2355657177041, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 898.4265018689853, + -414.6374895063508, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 896.9265018689853, + -412.0394132949975, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 895.4265018689853, + -409.44133708364416, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 893.9265018689853, + -406.84326087229084, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 892.4265018689853, + -404.2451846609375, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 890.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 890.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 890.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 890.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 890.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 890.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 893.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 896.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 899.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 902.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 905.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 908.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 911.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 914.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 917.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 920.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 923.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 926.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 929.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 929.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 929.9265018689853, + -401.6471084495842, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 931.4265018689853, + -399.0490322382309, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 932.9265018689853, + -396.4509560268776, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 934.4265018689853, + -393.85287981552426, + 3.8268267711002792 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 934.4265018689853, + -393.85287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 937.0245780803386, + -392.35287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 939.622654291692, + -390.85287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 942.2207305030454, + -389.35287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 944.8188067143988, + -387.85287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 947.4168829257521, + -386.35287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 950.0149591371055, + -384.85287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 952.6130353484589, + -383.35287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 955.2111115598123, + -381.85287981552426, + 3.8268267711002792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 957.8091877711656, + -380.35287981552426, + 3.8268267711002792 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-51-32_1704841123/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-51-32_1704841123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5645aecfb661808e30fd9ce791e1e7c8e1f387d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-51-32_1704841123/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -225.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -222.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -219.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -216.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -213.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -210.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -207.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -204.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -201.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -195.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -192.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -189.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -186.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -183.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -180.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -177.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -174.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -171.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -168.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -165.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -162.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -159.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -156.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -153.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -150.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -147.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -144.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -141.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -138.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -135.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -132.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -129.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -129.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -129.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -129.93550785109733, + -395.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.93550785109733, + -392.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -129.93550785109733, + -389.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -129.93550785109733, + -386.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -129.93550785109733, + -383.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -129.93550785109733, + -380.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -129.93550785109733, + -377.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -129.93550785109733, + -374.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -129.93550785109733, + -371.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -129.93550785109733, + -368.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -129.93550785109733, + -365.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -129.93550785109733, + -362.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -129.93550785109733, + -359.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -129.93550785109733, + -356.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -129.93550785109733, + -353.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -129.93550785109733, + -350.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -129.93550785109733, + -347.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -129.93550785109733, + -344.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -129.93550785109733, + -341.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -129.93550785109733, + -338.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -129.93550785109733, + -335.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -129.93550785109733, + -332.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -129.93550785109733, + -329.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -129.93550785109733, + -326.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -129.93550785109733, + -323.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -129.93550785109733, + -320.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -129.93550785109733, + -317.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -129.93550785109733, + -314.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -129.93550785109733, + -311.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -129.93550785109733, + -308.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -129.93550785109733, + -305.4270994197744, + -0.16319553059398384 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -129.93550785109733, + -305.4270994197744, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -128.43550785109733, + -302.82902320842106, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -126.93550785109733, + -300.23094699706775, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -125.43550785109733, + -297.63287078571443, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -123.93550785109733, + -295.0347945743611, + -0.16319553059398384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -122.43550785109733, + -292.4367183630078, + -0.16319553059398384 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-52-40_1637840187/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-52-40_1637840187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3afc4545687bbfa82b25c55484afaa04e130c090 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-52-40_1637840187/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -127.33739580765048, + -198.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991492 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -129.93547201900378, + -197.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991492 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -132.5335482303571, + -195.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -135.13162444171041, + -194.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -137.72970065306373, + -192.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -140.32777686441705, + -191.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -142.92585307577036, + -189.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.52392928712368, + -188.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -148.122005498477, + -186.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -150.7200817098303, + -185.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -153.31815792118363, + -183.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -155.91623413253694, + -182.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -158.51431034389026, + -180.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -161.11238655524357, + -179.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -163.7104627665969, + -177.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -166.3085389779502, + -176.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -168.90661518930352, + -174.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -171.50469140065684, + -173.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -174.10276761201015, + -171.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -176.70084382336347, + -170.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -179.2989200347168, + -168.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -181.8969962460701, + -167.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -184.49507245742342, + -165.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -187.09314866877673, + -164.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -189.69122488013005, + -162.7379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -192.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -192.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -195.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -198.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -201.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -201.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -201.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -201.28930109148337, + -161.2379452251791, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -202.78930109148337, + -158.63986901382577, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -204.28930109148337, + -156.04179280247246, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -205.78930109148337, + -153.44371659111914, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -207.28930109148337, + -150.84564037976583, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -208.78930109148337, + -148.2475641684125, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -210.28930109148337, + -145.6494879570592, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -211.78930109148337, + -143.05141174570588, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -213.28930109148337, + -140.45333553435256, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -214.78930109148337, + -137.85525932299925, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -216.28930109148337, + -135.25718311164593, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -217.78930109148337, + -132.6591069002926, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -219.28930109148337, + -130.0610306889393, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -220.78930109148337, + -127.46295447758598, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -222.28930109148337, + -124.86487826623267, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -223.78930109148337, + -122.26680205487935, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -225.28930109148337, + -119.66872584352603, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -226.78930109148337, + -117.07064963217272, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -228.28930109148337, + -114.4725734208194, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -229.78930109148337, + -111.87449720946609, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -231.28930109148337, + -109.27642099811277, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -232.78930109148337, + -106.67834478675945, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -234.28930109148337, + -104.08026857540614, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -235.78930109148337, + -101.48219236405282, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -237.28930109148337, + -98.8841161526995, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -238.78930109148337, + -96.28603994134619, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -240.28930109148337, + -93.68796372999287, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -241.78930109148337, + -91.08988751863956, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -243.28930109148337, + -88.49181130728624, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -244.78930109148337, + -85.89373509593293, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -246.28930109148337, + -83.29565888457961, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -247.78930109148337, + -80.6975826732263, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -249.28930109148337, + -78.09950646187298, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -250.78930109148337, + -75.50143025051966, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -252.28930109148337, + -72.90335403916635, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -253.78930109148337, + -70.30527782781303, + 3.371698049306284 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -253.78930109148337, + -70.30527782781303, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -253.78930109148337, + -67.30527782781303, + 3.371698049306284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -253.78930109148337, + -64.30527782781303, + 3.371698049306284 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-53-12_700287639/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-53-12_700287639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65d9f60b95882416299b18b20f1ba528c56c3783 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-53-12_700287639/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1282.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1285.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1288.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1291.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1294.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1297.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1300.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1303.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1306.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1309.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1312.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1315.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1318.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1321.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1324.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1327.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1330.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1333.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1336.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1339.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1342.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1342.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1342.797282488665, + -44.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1344.297282488665, + -47.2123486903521, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1345.797282488665, + -49.81042490170542, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1347.297282488665, + -52.40850111305873, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1348.797282488665, + -55.00657732441205, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1350.297282488665, + -57.604653535765365, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1351.797282488665, + -60.20272974711868, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1353.297282488665, + -62.800805958472, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1354.797282488665, + -65.39888216982531, + 1.3698562531156675 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1354.797282488665, + -65.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1357.3953587000183, + -66.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1359.9934349113717, + -68.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1362.591511122725, + -69.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1365.1895873340784, + -71.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1367.7876635454318, + -72.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1370.3857397567851, + -74.39888216982531, + 1.3698562531156675 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1370.3857397567851, + -74.39888216982531, + 1.3698562531156675 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1370.3857397567851, + -74.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1372.9838159681385, + -72.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1375.581892179492, + -71.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1378.1799683908453, + -69.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1380.7780446021986, + -68.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1383.376120813552, + -66.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1385.9741970249054, + -65.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1388.5722732362588, + -63.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1391.1703494476121, + -62.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1393.7684256589655, + -60.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1396.3665018703189, + -59.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1398.9645780816722, + -57.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1401.5626542930256, + -56.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1404.160730504379, + -54.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1406.7588067157324, + -53.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1409.3568829270857, + -51.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1411.954959138439, + -50.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1414.5530353497925, + -48.89888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1417.1511115611459, + -47.39888216982531, + 1.3698562531156675 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1417.1511115611459, + -47.39888216982531, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1418.6511115611459, + -44.800805958472, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1420.1511115611459, + -42.20272974711868, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1421.6511115611459, + -39.604653535765365, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1423.1511115611459, + -37.00657732441205, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1424.6511115611459, + -34.40850111305873, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1426.1511115611459, + -31.810424901705417, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1427.6511115611459, + -29.2123486903521, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1429.1511115611459, + -26.614272478998785, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1430.6511115611459, + -24.01619626764547, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1432.1511115611459, + -21.418120056292153, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1433.6511115611459, + -18.820043844938837, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1435.1511115611459, + -16.22196763358552, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1436.6511115611459, + -13.623891422232205, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1438.1511115611459, + -11.02581521087889, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1439.6511115611459, + -8.427738999525573, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1441.1511115611459, + -5.829662788172257, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1442.6511115611459, + -3.231586576818941, + 1.3698562531156675 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1442.6511115611459, + -3.231586576818941, + 1.3698562531156675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1445.2491877724992, + -1.7315865768189413, + 1.3698562531156675 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-55-0_764851988/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-55-0_764851988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7ae5ba6a4e087daf73948b2a430069acfc82ef4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-55-0_764851988/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 457.0305111589886, + -144.99589974915062, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 458.5305111589886, + -147.59397596050394, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 460.0305111589886, + -150.19205217185726, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 461.5305111589886, + -152.79012838321057, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 463.0305111589886, + -155.3882045945639, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.5305111589886, + -157.9862808059172, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 466.0305111589886, + -160.58435701727052, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 467.5305111589886, + -163.18243322862384, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 469.0305111589886, + -165.78050943997715, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 470.5305111589886, + -168.37858565133047, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 472.0305111589886, + -170.97666186268378, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 473.5305111589886, + -173.5747380740371, + -1.0525517563861682 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 473.5305111589886, + -173.5747380740371, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 473.5305111589886, + -176.5747380740371, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 473.5305111589886, + -179.5747380740371, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 473.5305111589886, + -182.5747380740371, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 473.5305111589886, + -185.5747380740371, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 473.5305111589886, + -188.5747380740371, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 473.5305111589886, + -191.5747380740371, + -1.0525517563861682 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 473.5305111589886, + -191.5747380740371, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 472.0305111589886, + -194.17281428539042, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 470.5305111589886, + -196.77089049674373, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 469.0305111589886, + -199.36896670809705, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 467.5305111589886, + -201.96704291945036, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 466.0305111589886, + -204.56511913080368, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 464.5305111589886, + -207.163195342157, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 463.0305111589886, + -209.7612715535103, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 461.5305111589886, + -212.35934776486363, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 460.0305111589886, + -214.95742397621694, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 458.5305111589886, + -217.55550018757026, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 457.0305111589886, + -220.15357639892358, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 455.5305111589886, + -222.7516526102769, + -1.0525517563861682 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 455.5305111589886, + -222.7516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 452.9324349476353, + -224.2516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 450.33435873628196, + -225.7516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 447.73628252492864, + -227.2516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 445.1382063135753, + -228.7516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 442.540130102222, + -230.2516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 439.9420538908687, + -231.7516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 437.3439776795154, + -233.2516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 434.74590146816206, + -234.7516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 432.14782525680874, + -236.2516526102769, + -1.0525517563861682 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 429.5497490454554, + -237.7516526102769, + -1.0525517563861682 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-55-29_1031207394/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-55-29_1031207394/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afb58cf59cee0e5f613c150410c796a1f226aec9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-55-29_1031207394/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -0.8818157914722917, + -703.2085688585504, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2.381815791472291, + -700.6104926471971, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -3.88181579147229, + -698.0124164358438, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -5.381815791472289, + -695.4143402244904, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -6.881815791472288, + -692.816264013137, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -8.381815791472288, + -690.2181878017836, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -9.881815791472288, + -687.6201115904303, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -11.381815791472288, + -685.0220353790769, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -12.881815791472288, + -682.4239591677235, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -14.381815791472288, + -679.8258829563702, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -15.881815791472288, + -677.2278067450168, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -17.381815791472288, + -674.6297305336634, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -18.881815791472288, + -672.03165432231, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -20.381815791472288, + -669.4335781109567, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -21.881815791472288, + -666.8355018996033, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -23.381815791472288, + -664.2374256882499, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -24.881815791472288, + -661.6393494768965, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -26.381815791472288, + -659.0412732655432, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -27.881815791472288, + -656.4431970541898, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -29.381815791472288, + -653.8451208428364, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -30.881815791472288, + -651.247044631483, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -32.381815791472285, + -648.6489684201297, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393185 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -33.881815791472285, + -646.0508922087763, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -35.381815791472285, + -643.4528159974229, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -36.881815791472285, + -640.8547397860696, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -38.381815791472285, + -638.2566635747162, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -39.881815791472285, + -635.6585873633628, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -41.381815791472285, + -633.0605111520094, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -42.881815791472285, + -630.4624349406561, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -44.381815791472285, + -627.8643587293027, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -45.881815791472285, + -625.2662825179493, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -47.381815791472285, + -622.668206306596, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -48.881815791472285, + -620.0701300952426, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -50.381815791472285, + -617.4720538838892, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -51.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -51.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -51.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -51.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -51.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -48.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -45.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -42.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -39.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -36.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -33.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -30.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -27.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -24.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -21.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -18.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -15.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -15.881815791472285, + -614.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -13.283739580118969, + -613.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -10.685663368765653, + -611.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -8.087587157412337, + -610.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -5.489510946059021, + -608.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2.8914347347057046, + -607.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -0.29335852335238854, + -605.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 2.3047176880009275, + -604.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 4.9027938993542435, + -602.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 7.5008701107075595, + -601.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 10.098946322060876, + -599.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 12.697022533414192, + -598.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 15.295098744767508, + -596.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 17.893174956120824, + -595.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 20.49125116747414, + -593.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 23.089327378827456, + -592.3739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 25.68740359018077, + -590.8739776725358, + -3.687863806263441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 28.285479801534088, + -589.3739776725358, + -3.687863806263441 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-57-14_2145854098/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-57-14_2145854098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef04dce410f30c2c6a742519c6e35a94064ea22c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-57-14_2145854098/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1339.1860089234383, + -109.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1339.1860089234383, + -112.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1339.1860089234383, + -115.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1339.1860089234383, + -118.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1339.1860089234383, + -121.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1339.1860089234383, + -124.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1339.1860089234383, + -127.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1339.1860089234383, + -130.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1339.1860089234383, + -133.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1339.1860089234383, + -136.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1339.1860089234383, + -139.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1339.1860089234383, + -142.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1339.1860089234383, + -145.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1339.1860089234383, + -148.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1339.1860089234383, + -151.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1339.1860089234383, + -154.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1339.1860089234383, + -157.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1339.1860089234383, + -160.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1339.1860089234383, + -163.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1339.1860089234383, + -166.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1339.1860089234383, + -169.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1339.1860089234383, + -172.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1339.1860089234383, + -175.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1339.1860089234383, + -178.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1339.1860089234383, + -181.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1339.1860089234383, + -184.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1339.1860089234383, + -187.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1339.1860089234383, + -190.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1339.1860089234383, + -193.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1339.1860089234383, + -196.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1339.1860089234383, + -199.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1339.1860089234383, + -202.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1339.1860089234383, + -205.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1339.1860089234383, + -208.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1339.1860089234383, + -211.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1339.1860089234383, + -214.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1339.1860089234383, + -217.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1339.1860089234383, + -220.82454028561818, + -2.7091575698469024 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1339.1860089234383, + -220.82454028561818, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1337.6860089234383, + -223.4226164969715, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1336.1860089234383, + -226.02069270832482, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1334.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1334.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1334.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1334.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1334.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1334.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1337.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1340.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1343.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1346.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1349.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1352.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1355.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1358.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1361.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1361.6860089234383, + -228.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1364.2840851347917, + -227.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1366.882161346145, + -225.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1369.4802375574984, + -224.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1372.0783137688518, + -222.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1374.6763899802052, + -221.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1377.2744661915585, + -219.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1379.872542402912, + -218.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1382.4706186142653, + -216.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1385.0686948256186, + -215.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1387.666771036972, + -213.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1390.2648472483254, + -212.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1392.8629234596788, + -210.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1395.4609996710321, + -209.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1398.0590758823855, + -207.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1400.657152093739, + -206.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1403.2552283050923, + -204.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1405.8533045164456, + -203.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1408.451380727799, + -201.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1411.0494569391524, + -200.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1413.6475331505058, + -198.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1416.2456093618591, + -197.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1418.8436855732125, + -195.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1421.4417617845659, + -194.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1424.0398379959192, + -192.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1426.6379142072726, + -191.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1429.235990418626, + -189.61876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 1431.8340666299794, + -188.11876891967813, + -2.7091575698469024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 1434.4321428413327, + -186.61876891967813, + -2.7091575698469024 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-57-52_1623804486/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-57-52_1623804486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24bd5cbc3ef37490c02a289645aabb8df50d4e90 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-57-52_1623804486/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -340.1218286217687, + -118.56325348661763, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -338.6218286217687, + -121.16132969797094, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -337.1218286217687, + -123.75940590932426, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -335.6218286217687, + -126.35748212067757, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -334.1218286217687, + -128.95555833203088, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965954 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -332.6218286217687, + -131.5536345433842, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -331.1218286217687, + -134.1517107547375, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -329.6218286217687, + -136.74978696609082, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -328.1218286217687, + -139.34786317744414, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -326.6218286217687, + -141.94593938879746, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -325.1218286217687, + -144.54401560015077, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -323.6218286217687, + -147.1420918115041, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -322.1218286217687, + -149.7401680228574, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -320.6218286217687, + -152.33824423421072, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -319.1218286217687, + -154.93632044556404, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -317.6218286217687, + -157.53439665691735, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -316.1218286217687, + -160.13247286827067, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -314.6218286217687, + -162.73054907962398, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -313.1218286217687, + -165.3286252909773, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -311.6218286217687, + -167.92670150233062, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -310.1218286217687, + -170.52477771368393, + -0.9602951833933062 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -310.1218286217687, + -170.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -307.5237524104154, + -172.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -304.9256761990621, + -173.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -302.32759998770877, + -175.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -299.72952377635545, + -176.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -297.13144756500213, + -178.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -294.5333713536488, + -179.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -291.9352951422955, + -181.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -289.3372189309422, + -182.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -286.73914271958887, + -184.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -284.14106650823555, + -185.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -281.54299029688224, + -187.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -278.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -278.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -278.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -275.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -272.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -269.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -266.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -263.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -260.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -257.9449140855289, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -254.94491408552892, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -251.94491408552892, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -251.94491408552892, + -188.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -249.3468378741756, + -187.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -246.7487616628223, + -185.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -244.15068545146897, + -184.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -241.55260924011566, + -182.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -238.95453302876234, + -181.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -236.35645681740903, + -179.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -233.7583806060557, + -178.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -231.1603043947024, + -176.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -228.56222818334908, + -175.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -225.96415197199576, + -173.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -223.36607576064245, + -172.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -220.76799954928913, + -170.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -218.1699233379358, + -169.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -215.5718471265825, + -167.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -212.97377091522918, + -166.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -210.37569470387587, + -164.52477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -207.77761849252255, + -163.02477771368393, + -0.9602951833933062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -205.17954228116923, + -161.52477771368393, + -0.9602951833933062 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-9-49_1701475883/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-9-49_1701475883/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e5010e21f0e48e2c3aaf016c92e08f150ab7b38 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_11-9-49_1701475883/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1447.9942737372062, + 63.39982538639836, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1446.4942737372062, + 65.99790159775168, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1444.9942737372062, + 68.595977809105, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1443.4942737372062, + 71.19405402045831, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1441.9942737372062, + 73.79213023181163, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1440.4942737372062, + 76.39020644316494, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1438.9942737372062, + 78.98828265451826, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1437.4942737372062, + 81.58635886587157, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1435.9942737372062, + 84.18443507722489, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1434.4942737372062, + 86.7825112885782, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1432.9942737372062, + 89.38058749993152, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1431.4942737372062, + 91.97866371128484, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1429.9942737372062, + 94.57673992263815, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1428.4942737372062, + 97.17481613399147, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1426.9942737372062, + 99.77289234534479, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1425.4942737372062, + 102.3709685566981, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1423.9942737372062, + 104.96904476805142, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1422.4942737372062, + 107.56712097940473, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1420.9942737372062, + 110.16519719075805, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1419.4942737372062, + 112.76327340211137, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1417.9942737372062, + 115.36134961346468, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1416.4942737372062, + 117.959425824818, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1414.9942737372062, + 120.55750203617131, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1413.4942737372062, + 123.15557824752463, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1411.9942737372062, + 125.75365445887795, + 1.507600174110558 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1411.9942737372062, + 125.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1411.9942737372062, + 128.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1411.9942737372062, + 131.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1411.9942737372062, + 134.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1411.9942737372062, + 137.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1411.9942737372062, + 140.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1411.9942737372062, + 143.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1411.9942737372062, + 146.75365445887795, + 1.507600174110558 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1411.9942737372062, + 146.75365445887795, + 1.507600174110558 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1411.9942737372062, + 146.75365445887795, + 1.507600174110558 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1411.9942737372062, + 146.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1409.3961975258528, + 148.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1406.7981213144994, + 149.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1404.200045103146, + 151.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1401.6019688917927, + 152.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1399.0038926804393, + 154.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1396.405816469086, + 155.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1393.8077402577326, + 157.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1391.2096640463792, + 158.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1388.6115878350258, + 160.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1386.0135116236725, + 161.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1383.415435412319, + 163.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1380.8173592009657, + 164.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1378.2192829896123, + 166.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1375.621206778259, + 167.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1373.0231305669056, + 169.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1370.4250543555522, + 170.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1367.8269781441988, + 172.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1365.2289019328455, + 173.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1362.630825721492, + 175.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1360.0327495101387, + 176.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1357.4346732987854, + 178.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1354.836597087432, + 179.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1352.2385208760786, + 181.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1349.6404446647252, + 182.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1347.0423684533719, + 184.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1344.4442922420185, + 185.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1341.8462160306651, + 187.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1339.2481398193117, + 188.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1336.6500636079584, + 190.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1334.051987396605, + 191.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1331.4539111852516, + 193.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1328.8558349738983, + 194.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1326.2577587625449, + 196.25365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1323.6596825511915, + 197.75365445887795, + 1.507600174110558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1321.0616063398381, + 199.25365445887795, + 1.507600174110558 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-0-9_1242754098/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-0-9_1242754098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5346cad7cb7001ad1a398ecddf723c25bc556227 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-0-9_1242754098/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 105.01774630226068, + -58.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 102.41967009090736, + -57.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 99.82159387955404, + -55.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 97.22351766820073, + -54.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 94.62544145684741, + -52.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 92.0273652454941, + -51.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 89.42928903414078, + -49.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 86.83121282278746, + -48.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 84.23313661143415, + -46.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 81.63506040008083, + -45.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 79.03698418872752, + -43.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 76.4389079773742, + -42.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 73.84083176602088, + -40.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 71.24275555466757, + -39.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 68.64467934331425, + -37.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 66.04660313196094, + -36.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 63.44852692060762, + -34.54077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 60.850450709254304, + -33.04077911807479, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 58.25237449790099, + -31.540779118074788, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 55.65429828654767, + -30.040779118074788, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 53.056222075194356, + -28.540779118074788, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 50.45814586384104, + -27.040779118074788, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 47.860069652487724, + -25.540779118074788, + 4.479667521304211 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 47.860069652487724, + -25.540779118074788, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 46.360069652487724, + -22.942702906721472, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.860069652487724, + -20.344626695368156, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 43.360069652487724, + -17.74655048401484, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 41.860069652487724, + -15.148474272661524, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 40.360069652487724, + -12.550398061308208, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 38.860069652487724, + -9.952321849954892, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 37.360069652487724, + -7.354245638601576, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 35.860069652487724, + -4.75616942724826, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 34.360069652487724, + -2.1580932158949437, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 32.860069652487724, + 0.4399829954583723, + 4.479667521304211 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 32.860069652487724, + 0.4399829954583723, + 4.479667521304211 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 32.860069652487724, + 0.4399829954583723, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 34.360069652487724, + 3.0380592068116883, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 35.860069652487724, + 5.636135418165004, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 37.360069652487724, + 8.23421162951832, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 38.860069652487724, + 10.832287840871636, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.360069652487724, + 13.430364052224952, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 41.860069652487724, + 16.02844026357827, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 43.360069652487724, + 18.626516474931584, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 44.860069652487724, + 21.2245926862849, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 46.360069652487724, + 23.822668897638216, + 4.479667521304211 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 46.360069652487724, + 23.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 48.95814586384104, + 25.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 51.556222075194356, + 26.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 54.15429828654767, + 28.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 56.75237449790099, + 29.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 59.350450709254304, + 31.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 61.94852692060762, + 32.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 64.54660313196094, + 34.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 67.14467934331425, + 35.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 69.74275555466757, + 37.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 72.34083176602088, + 38.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 74.9389079773742, + 40.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 77.53698418872752, + 41.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 80.13506040008083, + 43.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 82.73313661143415, + 44.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 85.33121282278746, + 46.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 87.92928903414078, + 47.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 90.5273652454941, + 49.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 93.12544145684741, + 50.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 95.72351766820073, + 52.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 98.32159387955404, + 53.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 100.91967009090736, + 55.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 103.51774630226068, + 56.822668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 106.11582251361399, + 58.322668897638216, + 4.479667521304211 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 108.71389872496731, + 59.822668897638216, + 4.479667521304211 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-11-21_673365159/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-11-21_673365159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01e57f062c59c823ebb26dac24c0e66fdd1ddf01 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-11-21_673365159/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -20.656775068626132, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -23.656775068626132, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -26.656775068626132, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -29.656775068626132, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -32.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -35.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -38.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -41.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -44.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -47.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -50.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -53.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -56.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -59.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -62.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -65.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -68.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -71.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -74.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -77.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -80.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -83.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -86.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -89.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -92.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -95.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -98.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -101.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -104.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -107.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -107.65677506862613, + -635.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -110.25485127997945, + -636.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -112.85292749133276, + -638.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -115.45100370268608, + -639.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -118.0490799140394, + -641.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -120.64715612539271, + -642.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -123.24523233674603, + -644.2528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -125.84330854809934, + -645.7528611629871, + 4.826259815561155 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -125.84330854809934, + -645.7528611629871, + 4.826259815561155 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -125.84330854809934, + -645.7528611629871, + 4.826259815561155 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -125.84330854809934, + -645.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -125.84330854809934, + -648.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -125.84330854809934, + -651.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -125.84330854809934, + -654.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -125.84330854809934, + -657.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -125.84330854809934, + -660.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -125.84330854809934, + -663.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -125.84330854809934, + -666.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -125.84330854809934, + -669.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -125.84330854809934, + -672.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -125.84330854809934, + -675.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -125.84330854809934, + -678.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -125.84330854809934, + -681.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -125.84330854809934, + -684.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -125.84330854809934, + -687.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -125.84330854809934, + -690.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -125.84330854809934, + -693.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -125.84330854809934, + -696.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -125.84330854809934, + -699.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -125.84330854809934, + -702.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -125.84330854809934, + -705.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -125.84330854809934, + -708.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -125.84330854809934, + -711.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -125.84330854809934, + -714.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -125.84330854809934, + -717.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -125.84330854809934, + -720.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -125.84330854809934, + -723.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -125.84330854809934, + -726.7528611629871, + 4.826259815561155 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -125.84330854809934, + -726.7528611629871, + 4.826259815561155 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -125.84330854809934, + -726.7528611629871, + 4.826259815561155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -128.44138475945266, + -728.2528611629871, + 4.826259815561155 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-12-22_2033261900/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-12-22_2033261900/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0511ef64c75788db74cd0a3d74cfd350e5cadf96 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-12-22_2033261900/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -305.8660400187594, + -72.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -305.8660400187594, + -75.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -305.8660400187594, + -78.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -305.8660400187594, + -81.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -305.8660400187594, + -84.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -305.8660400187594, + -87.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -305.8660400187594, + -90.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -305.8660400187594, + -93.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -305.8660400187594, + -96.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -305.8660400187594, + -99.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -305.8660400187594, + -102.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -305.8660400187594, + -105.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -305.8660400187594, + -108.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -305.8660400187594, + -111.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -305.8660400187594, + -114.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -305.8660400187594, + -117.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -305.8660400187594, + -120.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -305.8660400187594, + -123.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -305.8660400187594, + -126.16464952390281, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -305.8660400187594, + -129.16464952390282, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -305.8660400187594, + -132.16464952390282, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -305.8660400187594, + -135.16464952390282, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -305.8660400187594, + -138.16464952390282, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -305.8660400187594, + -141.16464952390282, + -3.8715371752441743 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -305.8660400187594, + -141.16464952390282, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -304.3660400187594, + -143.76272573525614, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -302.8660400187594, + -146.36080194660946, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -301.3660400187594, + -148.95887815796277, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -299.8660400187594, + -151.5569543693161, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -298.3660400187594, + -154.1550305806694, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -296.8660400187594, + -156.75310679202272, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -295.3660400187594, + -159.35118300337604, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -293.8660400187594, + -161.94925921472935, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -292.3660400187594, + -164.54733542608267, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -290.8660400187594, + -167.14541163743598, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -289.3660400187594, + -169.7434878487893, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -287.8660400187594, + -172.34156406014262, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -286.3660400187594, + -174.93964027149593, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -284.8660400187594, + -177.53771648284925, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -283.3660400187594, + -180.13579269420256, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -281.8660400187594, + -182.73386890555588, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -280.3660400187594, + -185.3319451169092, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -278.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -278.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -278.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -278.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -275.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -272.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -269.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -266.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -263.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -260.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -257.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -254.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -254.8660400187594, + -187.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -252.2679638074061, + -186.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -249.66988759605277, + -184.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -247.07181138469946, + -183.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -244.47373517334614, + -181.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -241.87565896199283, + -180.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -239.2775827506395, + -178.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -236.6795065392862, + -177.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -234.08143032793288, + -175.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -231.48335411657956, + -174.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -228.88527790522625, + -172.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -226.28720169387293, + -171.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -223.68912548251961, + -169.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -221.0910492711663, + -168.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -218.49297305981298, + -166.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -215.89489684845967, + -165.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -213.29682063710635, + -163.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -210.69874442575303, + -162.4300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -208.10066821439972, + -160.9300213282625, + -3.8715371752441743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -205.5025920030464, + -159.4300213282625, + -3.8715371752441743 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-14-43_1702943003/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-14-43_1702943003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c86ec8cb77f14e646c9b801f08f221ce6025e79a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-14-43_1702943003/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -231.3237712460832, + -59.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -228.72569503472988, + -60.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -226.12761882337657, + -62.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -223.52954261202325, + -63.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -220.93146640066993, + -65.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982968 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -218.33339018931662, + -66.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -215.7353139779633, + -68.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -213.13723776660999, + -69.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -210.53916155525667, + -71.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -207.94108534390335, + -72.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -205.34300913255004, + -74.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -202.74493292119672, + -75.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -200.1468567098434, + -77.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -197.5487804984901, + -78.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.95070428713677, + -80.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -192.35262807578346, + -81.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -189.75455186443014, + -83.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -187.15647565307682, + -84.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -184.5583994417235, + -86.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -181.9603232303702, + -87.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -179.36224701901688, + -89.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -176.76417080766356, + -90.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -174.16609459631024, + -92.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -171.56801838495693, + -93.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -168.9699421736036, + -95.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -166.3718659622503, + -96.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -163.77378975089698, + -98.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -161.17571353954366, + -99.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -158.57763732819035, + -101.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -155.97956111683703, + -102.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -153.38148490548372, + -104.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -150.7834086941304, + -105.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -148.18533248277708, + -107.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -145.58725627142377, + -108.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -142.98918006007045, + -110.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -140.39110384871714, + -111.77903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -137.79302763736382, + -113.27903710656823, + -2.9218203397027915 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -137.79302763736382, + -113.27903710656823, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -136.29302763736382, + -115.87711331792154, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -134.79302763736382, + -118.47518952927486, + -2.9218203397027915 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -134.79302763736382, + -118.47518952927486, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -134.79302763736382, + -121.47518952927486, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -134.79302763736382, + -124.47518952927486, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -134.79302763736382, + -127.47518952927486, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -134.79302763736382, + -130.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -134.79302763736382, + -133.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -134.79302763736382, + -136.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -134.79302763736382, + -139.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -134.79302763736382, + -142.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -134.79302763736382, + -145.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -134.79302763736382, + -148.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -134.79302763736382, + -151.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -134.79302763736382, + -154.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -134.79302763736382, + -157.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -134.79302763736382, + -160.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -134.79302763736382, + -163.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -134.79302763736382, + -166.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -134.79302763736382, + -169.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -134.79302763736382, + -172.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -134.79302763736382, + -175.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -134.79302763736382, + -178.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -134.79302763736382, + -181.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -134.79302763736382, + -184.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -134.79302763736382, + -187.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -134.79302763736382, + -190.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -134.79302763736382, + -193.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -134.79302763736382, + -196.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -134.79302763736382, + -199.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -134.79302763736382, + -202.47518952927487, + -2.9218203397027915 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -134.79302763736382, + -202.47518952927487, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -136.29302763736382, + -205.0732657406282, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -137.79302763736382, + -207.6713419519815, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -139.29302763736382, + -210.26941816333482, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -140.79302763736382, + -212.86749437468814, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -142.29302763736382, + -215.46557058604145, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -143.79302763736382, + -218.06364679739477, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -145.29302763736382, + -220.66172300874808, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -146.79302763736382, + -223.2597992201014, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -148.29302763736382, + -225.85787543145472, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -149.79302763736382, + -228.45595164280803, + -2.9218203397027915 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -151.29302763736382, + -231.05402785416135, + -2.9218203397027915 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-19-5_33713861/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-19-5_33713861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75c86198728d4884a9023a89a57a64883bd8c2b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-19-5_33713861/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 990.0460929043865, + -323.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 987.4480166930332, + -322.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 984.8499404816798, + -320.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 982.2518642703265, + -319.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 979.6537880589731, + -317.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 977.0557118476197, + -316.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 974.4576356362663, + -314.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 971.859559424913, + -313.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 969.2614832135596, + -311.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 966.6634070022062, + -310.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 964.0653307908528, + -308.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 961.4672545794995, + -307.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 958.8691783681461, + -305.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 956.2711021567927, + -304.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 953.6730259454393, + -302.5822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 951.074949734086, + -301.0822299744043, + -1.75082585586467 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 951.074949734086, + -301.0822299744043, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 949.574949734086, + -298.484153763051, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 948.074949734086, + -295.88607755169767, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 946.574949734086, + -293.28800134034435, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 945.074949734086, + -290.68992512899104, + -1.75082585586467 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 945.074949734086, + -290.68992512899104, + -1.75082585586467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 945.074949734086, + -290.68992512899104, + -1.75082585586467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 945.074949734086, + -290.68992512899104, + -1.75082585586467 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 945.074949734086, + -290.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 947.6730259454393, + -289.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 950.2711021567927, + -287.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 952.8691783681461, + -286.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 955.4672545794995, + -284.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 958.0653307908528, + -283.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 960.6634070022062, + -281.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 963.2614832135596, + -280.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 965.859559424913, + -278.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 968.4576356362663, + -277.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 971.0557118476197, + -275.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 973.6537880589731, + -274.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 976.2518642703265, + -272.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 978.8499404816798, + -271.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 981.4480166930332, + -269.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 984.0460929043866, + -268.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 986.6441691157399, + -266.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 989.2422453270933, + -265.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 991.8403215384467, + -263.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 994.4383977498001, + -262.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 997.0364739611534, + -260.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 999.6345501725068, + -259.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1002.2326263838602, + -257.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1004.8307025952136, + -256.18992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1007.4287788065669, + -254.68992512899104, + -1.75082585586467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1010.0268550179203, + -253.18992512899104, + -1.75082585586467 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-21-48_816976784/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-21-48_816976784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9dc45541c4d225772857e299f9e22002fd710b27 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-21-48_816976784/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 368.7730494673567, + -50.60634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 366.1749732560034, + -52.10634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.5768970446501, + -53.60634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 360.97882083329677, + -55.10634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 358.38074462194345, + -56.60634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 355.78266841059013, + -58.10634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 353.1845921992368, + -59.60634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 350.5865159878835, + -61.10634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 347.9884397765302, + -62.60634211673517, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 345.39036356517687, + -64.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 342.79228735382355, + -65.60634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 340.19421114247024, + -67.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 337.5961349311169, + -68.60634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 334.9980587197636, + -70.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 332.3999825084103, + -71.60634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 329.801906297057, + -73.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 327.20383008570366, + -74.60634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 324.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 324.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 321.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 318.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 315.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 312.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 309.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 306.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 303.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 300.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 297.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 294.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 297.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 300.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 303.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 309.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 312.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 315.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 318.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 321.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 324.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 324.60575387435034, + -76.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 327.20383008570366, + -77.60634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 329.801906297057, + -79.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 332.3999825084103, + -80.60634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 334.9980587197636, + -82.10634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 337.5961349311169, + -83.60634211673516, + 1.1084577442086303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 340.19421114247024, + -85.10634211673516, + 1.1084577442086303 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-23-53_1003463633/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-23-53_1003463633/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6923aa348ea0f35003889c2046a007860ab81fbe --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-23-53_1003463633/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 782.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 785.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 788.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 791.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 794.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 797.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 800.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 803.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 806.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 809.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 812.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 815.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 818.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 821.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 824.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 827.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 827.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 827.5622096950549, + -304.1667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 829.0622096950549, + -301.56870860808806, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 830.5622096950549, + -298.97063239673474, + 2.1204369880185734 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 830.5622096950549, + -298.97063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 833.1602859064083, + -297.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 835.7583621177616, + -295.97063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 838.356438329115, + -294.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 840.9545145404684, + -292.97063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 843.5525907518218, + -291.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 846.1506669631751, + -289.97063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 848.7487431745285, + -288.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 851.3468193858819, + -286.97063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 853.9448955972352, + -285.47063239673474, + 2.1204369880185734 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 853.9448955972352, + -285.47063239673474, + 2.1204369880185734 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 853.9448955972352, + -285.47063239673474, + 2.1204369880185734 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 853.9448955972352, + -285.47063239673474, + 2.1204369880185734 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 853.9448955972352, + -285.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 853.9448955972352, + -288.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 853.9448955972352, + -291.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 853.9448955972352, + -294.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 853.9448955972352, + -297.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 853.9448955972352, + -300.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 853.9448955972352, + -303.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 853.9448955972352, + -306.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 853.9448955972352, + -309.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 853.9448955972352, + -312.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 853.9448955972352, + -315.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 853.9448955972352, + -318.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 853.9448955972352, + -321.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 853.9448955972352, + -324.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 853.9448955972352, + -327.47063239673474, + 2.1204369880185734 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 853.9448955972352, + -327.47063239673474, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 855.4448955972352, + -330.06870860808806, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 856.9448955972352, + -332.6667848194414, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 858.4448955972352, + -335.2648610307947, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 859.9448955972352, + -337.862937242148, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 861.4448955972352, + -340.4610134535013, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 862.9448955972352, + -343.05908966485464, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 864.4448955972352, + -345.65716587620796, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 865.9448955972352, + -348.25524208756127, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 867.4448955972352, + -350.8533182989146, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 868.9448955972352, + -353.4513945102679, + 2.1204369880185734 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 868.9448955972352, + -353.4513945102679, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 868.9448955972352, + -356.4513945102679, + 2.1204369880185734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 868.9448955972352, + -359.4513945102679, + 2.1204369880185734 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-25-33_1457880381/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-25-33_1457880381/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2efc410bd26bde12c6416109a4abc8ef9e0b61ce --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-25-33_1457880381/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 392.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 398.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 401.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 404.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 407.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 410.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 416.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 419.2093348316252, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 421.8074110429785, + -314.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 424.40548725433183, + -312.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 427.00356346568515, + -311.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 429.60163967703846, + -309.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 432.1997158883918, + -308.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 434.7977920997451, + -306.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 437.3958683110984, + -305.4311691240221, + 4.67422007963539 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 437.3958683110984, + -305.4311691240221, + 4.67422007963539 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 437.3958683110984, + -305.4311691240221, + 4.67422007963539 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 437.3958683110984, + -305.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 439.9939445224517, + -306.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 442.59202073380504, + -308.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 445.19009694515836, + -309.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 447.7881731565117, + -311.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 450.386249367865, + -312.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 452.9843255792183, + -314.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 455.5824017905716, + -315.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 458.18047800192494, + -317.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 460.77855421327826, + -318.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 463.37663042463157, + -320.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 465.9747066359849, + -321.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 468.5727828473382, + -323.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 471.1708590586915, + -324.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 473.76893527004484, + -326.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 476.36701148139815, + -327.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 478.96508769275147, + -329.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 481.5631639041048, + -330.9311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 484.1612401154581, + -332.4311691240221, + 4.67422007963539 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 484.1612401154581, + -332.4311691240221, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 485.6612401154581, + -335.02924533537544, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 487.1612401154581, + -337.62732154672875, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 488.6612401154581, + -340.22539775808207, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 490.1612401154581, + -342.8234739694354, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 491.6612401154581, + -345.4215501807887, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 493.1612401154581, + -348.019626392142, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 494.6612401154581, + -350.61770260349533, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 496.1612401154581, + -353.21577881484865, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 497.6612401154581, + -355.81385502620196, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 499.1612401154581, + -358.4119312375553, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 500.6612401154581, + -361.0100074489086, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 502.1612401154581, + -363.6080836602619, + 4.67422007963539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 503.6612401154581, + -366.2061598716152, + 4.67422007963539 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-25-5_2084546560/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-25-5_2084546560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf9cb02aa09b574340c5d53800ddfc13e65faa9e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-25-5_2084546560/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1096.1640183945494, + -298.8997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1093.565942183196, + -297.3997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1090.9678659718427, + -295.8997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1088.3697897604893, + -294.3997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1085.771713549136, + -292.8997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1083.1736373377826, + -291.3997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1080.5755611264292, + -289.8997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1077.9774849150758, + -288.3997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1075.3794087037224, + -286.8997575156824, + 2.8833095691257515 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1075.3794087037224, + -286.8997575156824, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1073.8794087037224, + -284.30168130432907, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1072.3794087037224, + -281.70360509297575, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1070.8794087037224, + -279.10552888162243, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1069.3794087037224, + -276.5074526702691, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1067.8794087037224, + -273.9093764589158, + 2.8833095691257515 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1067.8794087037224, + -273.9093764589158, + 2.8833095691257515 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1067.8794087037224, + -273.9093764589158, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1069.3794087037224, + -271.3113002475625, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1070.8794087037224, + -268.71322403620917, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1072.3794087037224, + -266.11514782485585, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1073.8794087037224, + -263.51707161350254, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1075.3794087037224, + -260.9189954021492, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1076.8794087037224, + -258.3209191907959, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1078.3794087037224, + -255.7228429794426, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1079.8794087037224, + -253.12476676808927, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1081.3794087037224, + -250.52669055673596, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1082.8794087037224, + -247.92861434538264, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1084.3794087037224, + -245.33053813402933, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1085.8794087037224, + -242.732461922676, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1087.3794087037224, + -240.1343857113227, + 2.8833095691257515 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1087.3794087037224, + -240.1343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1089.9774849150758, + -238.6343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1092.5755611264292, + -237.1343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1095.1736373377826, + -235.6343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1097.771713549136, + -234.1343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1100.3697897604893, + -232.6343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1102.9678659718427, + -231.1343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1105.565942183196, + -229.6343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1108.1640183945494, + -228.1343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1110.7620946059028, + -226.6343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1113.3601708172562, + -225.1343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1115.9582470286095, + -223.6343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1118.556323239963, + -222.1343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1121.1543994513163, + -220.6343857113227, + 2.8833095691257515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1123.7524756626697, + -219.1343857113227, + 2.8833095691257515 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-26-36_505185185/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-26-36_505185185/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6e5eb79acd645d8231fd2da2bde97fa721a5a49 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-26-36_505185185/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -290.28485644126897, + -376.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -287.68678022991566, + -377.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -285.08870401856234, + -379.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -282.490627807209, + -380.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -279.8925515958557, + -382.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -277.2944753845024, + -383.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -274.6963991731491, + -385.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -272.09832296179576, + -386.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -269.50024675044244, + -388.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -266.9021705390891, + -389.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -264.3040943277358, + -391.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -261.7060181163825, + -392.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -259.1079419050292, + -394.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -256.50986569367586, + -395.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -253.91178948232255, + -397.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -251.31371327096923, + -398.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -248.71563705961591, + -400.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -246.1175608482626, + -401.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -243.51948463690928, + -403.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -240.92140842555597, + -404.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -238.32333221420265, + -406.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -235.72525600284933, + -407.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -233.12717979149602, + -409.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -230.5291035801427, + -410.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -227.9310273687894, + -412.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -225.33295115743607, + -413.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -222.73487494608275, + -415.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -220.13679873472944, + -416.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -217.53872252337612, + -418.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -214.9406463120228, + -419.88861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -212.3425701006695, + -421.38861027840727, + 2.7537744815209777 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -212.3425701006695, + -421.38861027840727, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -210.8425701006695, + -423.9866864897606, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -209.3425701006695, + -426.5847627011139, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -207.8425701006695, + -429.1828389124672, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -206.3425701006695, + -431.78091512382053, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -204.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -204.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -204.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -201.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -198.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -195.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -192.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -192.8425701006695, + -434.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -190.24449388931617, + -432.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -187.64641767796286, + -431.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -185.04834146660954, + -429.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -182.45026525525623, + -428.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -179.8521890439029, + -426.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -177.2541128325496, + -425.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -174.65603662119628, + -423.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -172.05796040984296, + -422.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -169.45988419848965, + -420.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -166.86180798713633, + -419.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -164.26373177578301, + -417.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -161.6656555644297, + -416.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -159.06757935307638, + -414.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -156.46950314172307, + -413.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -153.87142693036975, + -411.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -151.27335071901643, + -410.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -148.67527450766312, + -408.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -146.0771982963098, + -407.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -143.4791220849565, + -405.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -140.88104587360317, + -404.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -138.28296966224985, + -402.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -135.68489345089654, + -401.37899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -133.08681723954322, + -399.87899133517385, + 2.7537744815209777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -130.4887410281899, + -398.37899133517385, + 2.7537744815209777 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-26-6_461851014/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-26-6_461851014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebc7a841f31f96d76c66bbbea5abbea2951df18c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-26-6_461851014/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1492.4439294770586, + -152.15843674181787, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1490.9439294770586, + -149.56036053046455, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1489.4439294770586, + -146.96228431911123, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1487.9439294770586, + -144.36420810775792, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1486.4439294770586, + -141.7661318964046, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1484.9439294770586, + -139.16805568505129, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1483.4439294770586, + -136.56997947369797, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1481.9439294770586, + -133.97190326234465, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1480.4439294770586, + -131.37382705099134, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1478.9439294770586, + -128.77575083963802, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1477.4439294770586, + -126.1776746282847, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1475.9439294770586, + -123.57959841693139, + -2.4122494568098403 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1475.9439294770586, + -123.57959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1473.3458532657053, + -122.07959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1470.747777054352, + -120.57959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1468.1497008429985, + -119.07959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1465.5516246316452, + -117.57959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1462.9535484202918, + -116.07959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1460.3554722089384, + -114.57959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1457.757395997585, + -113.07959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1455.1593197862317, + -111.57959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1452.5612435748783, + -110.07959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1449.963167363525, + -108.57959841693139, + -2.4122494568098403 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1449.963167363525, + -108.57959841693139, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1448.463167363525, + -105.98152220557807, + -2.4122494568098403 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1448.463167363525, + -105.98152220557807, + -2.4122494568098403 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267949063 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1448.463167363525, + -105.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1448.463167363525, + -102.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1448.463167363525, + -99.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1448.463167363525, + -96.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1448.463167363525, + -93.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1448.463167363525, + -90.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1448.463167363525, + -87.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1448.463167363525, + -84.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1448.463167363525, + -81.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1448.463167363525, + -78.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1448.463167363525, + -75.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1448.463167363525, + -72.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1448.463167363525, + -69.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1448.463167363525, + -66.98152220557807, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1448.463167363525, + -63.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1448.463167363525, + -60.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1448.463167363525, + -57.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1448.463167363525, + -54.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1448.463167363525, + -51.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1448.463167363525, + -48.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1448.463167363525, + -45.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1448.463167363525, + -42.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1448.463167363525, + -39.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1448.463167363525, + -36.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1448.463167363525, + -33.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1448.463167363525, + -30.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1448.463167363525, + -27.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1448.463167363525, + -24.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1448.463167363525, + -21.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1448.463167363525, + -18.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1448.463167363525, + -15.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1448.463167363525, + -12.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1448.463167363525, + -9.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1448.463167363525, + -6.981522205578074, + -2.4122494568098403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1448.463167363525, + -3.9815222055780737, + -2.4122494568098403 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-27-11_2028720897/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-27-11_2028720897/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..948afaf6f6e7fd4fc37a2f40250d397b2ff515d6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-27-11_2028720897/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -108.817972019618, + -99.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -111.41604823097131, + -100.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -114.01412444232463, + -102.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -116.61220065367795, + -103.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -119.21027686503126, + -105.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -121.80835307638458, + -106.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -124.4064292877379, + -108.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -127.00450549909121, + -109.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -129.60258171044453, + -111.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -132.20065792179784, + -112.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -134.79873413315116, + -114.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -137.39681034450447, + -115.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -139.9948865558578, + -117.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -142.5929627672111, + -118.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -145.19103897856442, + -120.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -147.78911518991774, + -121.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -150.38719140127105, + -123.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -152.98526761262437, + -124.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -155.58334382397769, + -126.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -158.181420035331, + -127.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -160.77949624668432, + -129.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -163.37757245803763, + -130.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -165.97564866939095, + -132.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -168.57372488074427, + -133.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -171.17180109209758, + -135.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -173.7698773034509, + -136.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -176.3679535148042, + -138.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -178.96602972615753, + -139.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -181.56410593751085, + -141.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -184.16218214886416, + -142.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -186.76025836021748, + -144.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -189.3583345715708, + -145.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -191.9564107829241, + -147.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -194.55448699427743, + -148.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -197.15256320563074, + -150.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -199.75063941698406, + -151.76749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -202.34871562833737, + -153.26749633313028, + -4.539955829332661 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -202.34871562833737, + -153.26749633313028, + -4.539955829332661 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -202.34871562833737, + -153.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -202.34871562833737, + -156.26749633313028, + -4.539955829332661 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -202.34871562833737, + -156.26749633313028, + -4.539955829332661 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -202.34871562833737, + -156.26749633313028, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -200.84871562833737, + -158.8655725444836, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -199.34871562833737, + -161.4636487558369, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -197.84871562833737, + -164.06172496719023, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -196.34871562833737, + -166.65980117854355, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -194.84871562833737, + -169.25787738989686, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -193.34871562833737, + -171.85595360125018, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -191.84871562833737, + -174.4540298126035, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -190.34871562833737, + -177.0521060239568, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -188.84871562833737, + -179.65018223531013, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -187.34871562833737, + -182.24825844666344, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -185.84871562833737, + -184.84633465801676, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -184.34871562833737, + -187.44441086937007, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -182.84871562833737, + -190.0424870807234, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -181.34871562833737, + -192.6405632920767, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -179.84871562833737, + -195.23863950343002, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -178.34871562833737, + -197.83671571478334, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -176.84871562833737, + -200.43479192613665, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -175.34871562833737, + -203.03286813748997, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -173.84871562833737, + -205.6309443488433, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -172.34871562833737, + -208.2290205601966, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -170.84871562833737, + -210.82709677154992, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -169.34871562833737, + -213.42517298290323, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -167.84871562833737, + -216.02324919425655, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -166.34871562833737, + -218.62132540560987, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -164.84871562833737, + -221.21940161696318, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -163.34871562833737, + -223.8174778283165, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -161.84871562833737, + -226.41555403966981, + -4.539955829332661 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -161.84871562833737, + -226.41555403966981, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -159.25063941698406, + -227.91555403966981, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -156.65256320563074, + -229.41555403966981, + -4.539955829332661 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -154.05448699427743, + -230.91555403966981, + -4.539955829332661 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-28-16_1773595097/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-28-16_1773595097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7cd35635c0528f8660f3ac7f9ccfab5849d72cad --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-28-16_1773595097/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1482.8267659445225, + -211.44359519770654, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1484.3267659445225, + -208.84551898635323, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1485.8267659445225, + -206.2474427749999, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1487.3267659445225, + -203.6493665636466, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.8267659445225, + -201.05129035229328, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1490.3267659445225, + -198.45321414093996, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1491.8267659445225, + -195.85513792958665, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1493.3267659445225, + -193.25706171823333, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1494.8267659445225, + -190.65898550688001, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1496.3267659445225, + -188.0609092955267, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1497.8267659445225, + -185.46283308417338, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1499.3267659445225, + -182.86475687282007, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1500.8267659445225, + -180.26668066146675, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1502.3267659445225, + -177.66860445011343, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1503.8267659445225, + -175.07052823876012, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1505.3267659445225, + -172.4724520274068, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1506.8267659445225, + -169.8743758160535, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1508.3267659445225, + -167.27629960470017, + 4.622885926285816 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1508.3267659445225, + -167.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1508.3267659445225, + -164.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1508.3267659445225, + -161.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1508.3267659445225, + -158.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1508.3267659445225, + -155.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1508.3267659445225, + -152.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1508.3267659445225, + -149.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1508.3267659445225, + -146.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1508.3267659445225, + -143.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1508.3267659445225, + -140.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1508.3267659445225, + -137.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1508.3267659445225, + -134.27629960470017, + 4.622885926285816 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1508.3267659445225, + -134.27629960470017, + 4.622885926285816 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1508.3267659445225, + -134.27629960470017, + 4.622885926285816 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1508.3267659445225, + -134.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1505.7286897331692, + -132.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1503.1306135218158, + -131.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1500.5325373104624, + -129.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1497.934461099109, + -128.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1495.3363848877557, + -126.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1492.7383086764023, + -125.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1490.140232465049, + -123.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1487.5421562536956, + -122.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1484.9440800423422, + -120.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1482.3460038309888, + -119.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1479.7479276196354, + -117.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1477.149851408282, + -116.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1474.5517751969287, + -114.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1471.9536989855753, + -113.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1469.355622774222, + -111.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1466.7575465628686, + -110.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1464.1594703515152, + -108.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1461.5613941401618, + -107.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1458.9633179288085, + -105.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1456.365241717455, + -104.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1453.7671655061017, + -102.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1451.1690892947483, + -101.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1448.571013083395, + -99.77629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1445.9729368720416, + -98.27629960470017, + 4.622885926285816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1443.3748606606882, + -96.77629960470017, + 4.622885926285816 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-29-22_1048938329/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-29-22_1048938329/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f56e8534014843b81377ff4192176ca81de0dbc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-29-22_1048938329/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -65.79299717474673, + -527.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -65.79299717474673, + -530.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.79299717474673, + -533.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -65.79299717474673, + -536.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -65.79299717474673, + -539.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.79299717474673, + -542.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -65.79299717474673, + -545.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -65.79299717474673, + -548.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -65.79299717474673, + -551.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -65.79299717474673, + -554.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -65.79299717474673, + -557.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -65.79299717474673, + -560.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -65.79299717474673, + -563.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -65.79299717474673, + -566.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -65.79299717474673, + -569.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -65.79299717474673, + -572.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -65.79299717474673, + -575.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -65.79299717474673, + -578.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -65.79299717474673, + -581.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -65.79299717474673, + -584.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -65.79299717474673, + -587.4566118260173, + -3.7104880455834186 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -65.79299717474673, + -587.4566118260173, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -64.29299717474673, + -590.0546880373706, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -62.79299717474673, + -592.652764248724, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -61.29299717474673, + -595.2508404600774, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -59.79299717474673, + -597.8489166714307, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -58.29299717474673, + -600.4469928827841, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -56.79299717474673, + -603.0450690941375, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -55.29299717474673, + -605.6431453054909, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -53.79299717474673, + -608.2412215168442, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -52.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -52.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -52.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "turn left", + "value": 30, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -52.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -49.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -46.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -43.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -40.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -37.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -34.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -31.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -28.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -25.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -22.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -19.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -16.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -13.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -10.29299717474673, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -7.292997174746731, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -7.292997174746731, + -610.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -4.694920963393415, + -609.3392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2.0968447520400986, + -607.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 0.5012314593132174, + -606.3392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3.0993076706665335, + -604.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 5.6973838820198495, + -603.3392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 8.295460093373165, + -601.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 10.893536304726481, + -600.3392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 13.491612516079798, + -598.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 16.089688727433114, + -597.3392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 18.68776493878643, + -595.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 21.285841150139746, + -594.3392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 23.88391736149306, + -592.8392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 26.481993572846378, + -591.3392977281976, + -3.7104880455834186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 29.080069784199694, + -589.8392977281976, + -3.7104880455834186 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-32-30_1814634316/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-32-30_1814634316/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93b5f3b7a2d9c3dab3e0768679864f5840f4d14b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-32-30_1814634316/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1555.8484240237296, + -191.5271578323783, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1554.3484240237296, + -188.92908162102498, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1552.8484240237296, + -186.33100540967166, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1551.3484240237296, + -183.73292919831835, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1549.8484240237296, + -181.13485298696503, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1548.3484240237296, + -178.5367767756117, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1546.8484240237296, + -175.9387005642584, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1545.3484240237296, + -173.34062435290508, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1543.8484240237296, + -170.74254814155177, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1542.3484240237296, + -168.14447193019845, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1540.8484240237296, + -165.54639571884513, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1539.3484240237296, + -162.94831950749182, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1537.8484240237296, + -160.3502432961385, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1536.3484240237296, + -157.75216708478519, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1534.8484240237296, + -155.15409087343187, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1533.3484240237296, + -152.55601466207855, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1531.8484240237296, + -149.95793845072524, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1530.3484240237296, + -147.35986223937192, + -0.79312843787595 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1530.3484240237296, + -147.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1530.3484240237296, + -144.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1530.3484240237296, + -141.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1530.3484240237296, + -138.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1530.3484240237296, + -135.35986223937192, + -0.79312843787595 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1530.3484240237296, + -135.35986223937192, + -0.79312843787595 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1530.3484240237296, + -135.35986223937192, + -0.79312843787595 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1530.3484240237296, + -135.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1527.7503478123763, + -133.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1525.152271601023, + -132.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1522.5541953896695, + -130.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1519.9561191783162, + -129.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1517.3580429669628, + -127.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1514.7599667556094, + -126.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1512.161890544256, + -124.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1509.5638143329027, + -123.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1506.9657381215493, + -121.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1504.367661910196, + -120.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1501.7695856988425, + -118.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1499.1715094874892, + -117.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1496.5734332761358, + -115.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1493.9753570647824, + -114.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1491.377280853429, + -112.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1488.7792046420757, + -111.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1486.1811284307223, + -109.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1483.583052219369, + -108.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1480.9849760080156, + -106.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1478.3868997966622, + -105.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1475.7888235853088, + -103.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1473.1907473739554, + -102.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1470.592671162602, + -100.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1467.9945949512487, + -99.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1465.3965187398953, + -97.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1462.798442528542, + -96.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1460.2003663171886, + -94.85986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1457.6022901058352, + -93.35986223937192, + -0.79312843787595 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1457.6022901058352, + -93.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1454.6022901058352, + -93.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1451.6022901058352, + -93.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1448.6022901058352, + -93.35986223937192, + -0.79312843787595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1445.6022901058352, + -93.35986223937192, + -0.79312843787595 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-35-38_608034986/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-35-38_608034986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b7b83563c6526c1c8d88a619886285eadaf3992 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-35-38_608034986/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 383.05206771196913, + -360.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 383.05206771196913, + -357.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 383.05206771196913, + -354.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 383.05206771196913, + -351.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 383.05206771196913, + -348.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 383.05206771196913, + -345.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.05206771196913, + -342.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 383.05206771196913, + -339.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 383.05206771196913, + -336.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 383.05206771196913, + -333.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.05206771196913, + -330.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 383.05206771196913, + -327.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 383.05206771196913, + -324.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 383.05206771196913, + -321.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 383.05206771196913, + -318.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 383.05206771196913, + -315.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 383.05206771196913, + -312.86002850951763, + 4.656490787964502 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 383.05206771196913, + -312.86002850951763, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 381.55206771196913, + -310.2619522981643, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 380.05206771196913, + -307.663876086811, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 378.55206771196913, + -305.0657998754577, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 377.05206771196913, + -302.46772366410437, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 375.55206771196913, + -299.86964745275105, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 374.05206771196913, + -297.27157124139774, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 372.55206771196913, + -294.6734950300444, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 371.05206771196913, + -292.0754188186911, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 369.55206771196913, + -289.4773426073378, + 4.656490787964502 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 369.55206771196913, + -289.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 369.55206771196913, + -286.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 369.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 369.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 369.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 369.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 369.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 372.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 375.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 378.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 381.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 384.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 387.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 390.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 393.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 396.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 399.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 402.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 405.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 408.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 411.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 414.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 417.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 420.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 423.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 423.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 423.55206771196913, + -283.4773426073378, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 425.05206771196913, + -286.0754188186911, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 426.55206771196913, + -288.6734950300444, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 428.05206771196913, + -291.27157124139774, + 4.656490787964502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 429.55206771196913, + -293.86964745275105, + 4.656490787964502 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-37-26_1916237892/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-37-26_1916237892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac0983f11e8581fab4f605e8b5f4b1f7a3eb68ad --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-37-26_1916237892/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 131.09170673114008, + 287.19009059789386, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 128.49363051978676, + 285.69009059789386, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 125.89555430843345, + 284.19009059789386, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 123.29747809708013, + 282.69009059789386, + 1.8495623981357827 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 123.29747809708013, + 282.69009059789386, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 121.79747809708013, + 280.09201438654054, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 120.29747809708013, + 277.4939381751872, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 118.79747809708013, + 274.8958619638339, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 117.29747809708013, + 272.2977857524806, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 115.79747809708013, + 269.6997095411273, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 114.29747809708013, + 267.10163332977396, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 112.79747809708013, + 264.50355711842064, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 111.29747809708013, + 261.90548090706733, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 109.79747809708013, + 259.307404695714, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 108.29747809708013, + 256.7093284843607, + 1.8495623981357827 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 108.29747809708013, + 256.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 108.29747809708013, + 253.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 108.29747809708013, + 250.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 108.29747809708013, + 247.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 108.29747809708013, + 244.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 108.29747809708013, + 241.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 108.29747809708013, + 238.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 108.29747809708013, + 235.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 108.29747809708013, + 232.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 108.29747809708013, + 229.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 108.29747809708013, + 226.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 108.29747809708013, + 223.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 108.29747809708013, + 220.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 108.29747809708013, + 217.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 108.29747809708013, + 214.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 108.29747809708013, + 211.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 108.29747809708013, + 208.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 108.29747809708013, + 205.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 108.29747809708013, + 202.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 108.29747809708013, + 199.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 108.29747809708013, + 196.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 108.29747809708013, + 193.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 108.29747809708013, + 190.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 108.29747809708013, + 187.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 108.29747809708013, + 184.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 108.29747809708013, + 181.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 108.29747809708013, + 178.7093284843607, + 1.8495623981357827 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 108.29747809708013, + 178.7093284843607, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 109.79747809708013, + 176.11125227300738, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 111.29747809708013, + 173.51317606165406, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 112.79747809708013, + 170.91509985030075, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 114.29747809708013, + 168.31702363894743, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 115.79747809708013, + 165.71894742759412, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 117.29747809708013, + 163.1208712162408, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 118.79747809708013, + 160.52279500488748, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 120.29747809708013, + 157.92471879353417, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 121.79747809708013, + 155.32664258218085, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 123.29747809708013, + 152.72856637082754, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 124.79747809708013, + 150.13049015947422, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 126.29747809708013, + 147.5324139481209, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 127.79747809708013, + 144.9343377367676, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 129.29747809708013, + 142.33626152541427, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 130.79747809708013, + 139.73818531406096, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 132.29747809708013, + 137.14010910270764, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 133.79747809708013, + 134.54203289135432, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 135.29747809708013, + 131.943956680001, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 136.79747809708013, + 129.3458804686477, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 138.29747809708013, + 126.74780425729438, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 139.79747809708013, + 124.14972804594106, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 141.29747809708013, + 121.55165183458774, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 142.79747809708013, + 118.95357562323443, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 144.29747809708013, + 116.35549941188111, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 145.79747809708013, + 113.7574232005278, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 147.29747809708013, + 111.15934698917448, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 148.79747809708013, + 108.56127077782116, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 150.29747809708013, + 105.96319456646785, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 151.79747809708013, + 103.36511835511453, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 153.29747809708013, + 100.76704214376122, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 154.79747809708013, + 98.1689659324079, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 156.29747809708013, + 95.57088972105458, + 1.8495623981357827 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 156.29747809708013, + 95.57088972105458, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 156.29747809708013, + 92.57088972105458, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 156.29747809708013, + 89.57088972105458, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 156.29747809708013, + 86.57088972105458, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 156.29747809708013, + 83.57088972105458, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 156.29747809708013, + 80.57088972105458, + 1.8495623981357827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 156.29747809708013, + 77.57088972105458, + 1.8495623981357827 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-40-13_1498387409/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-40-13_1498387409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de417588d06c3e2c84e4628cc4201dfd4d947166 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-40-13_1498387409/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 416.2502717901008, + 308.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 416.2502717901008, + 305.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 416.2502717901008, + 302.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 416.2502717901008, + 299.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 416.2502717901008, + 296.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 416.2502717901008, + 293.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 416.2502717901008, + 290.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 416.2502717901008, + 287.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 416.2502717901008, + 284.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 416.2502717901008, + 281.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 416.2502717901008, + 278.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 416.2502717901008, + 275.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 416.2502717901008, + 272.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 416.2502717901008, + 269.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 416.2502717901008, + 266.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 416.2502717901008, + 263.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 416.2502717901008, + 260.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 416.2502717901008, + 257.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 416.2502717901008, + 254.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 416.2502717901008, + 251.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 416.2502717901008, + 248.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 416.2502717901008, + 245.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 416.2502717901008, + 242.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 416.2502717901008, + 239.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 416.2502717901008, + 236.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 416.2502717901008, + 233.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 416.2502717901008, + 230.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 416.2502717901008, + 227.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 416.2502717901008, + 224.02047450771585, + 0.7575553354941 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 416.2502717901008, + 224.02047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 417.7502717901008, + 221.42239829636253, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 419.2502717901008, + 218.82432208500921, + 0.7575553354941 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 419.2502717901008, + 218.82432208500921, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 421.8483480014541, + 217.32432208500921, + 0.7575553354941 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 421.8483480014541, + 217.32432208500921, + 0.7575553354941 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 421.8483480014541, + 217.32432208500921, + 0.7575553354941 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 421.8483480014541, + 217.32432208500921, + 0.7575553354941 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 421.8483480014541, + 217.32432208500921, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 423.3483480014541, + 219.92239829636253, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 424.8483480014541, + 222.52047450771585, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 426.3483480014541, + 225.11855071906916, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 427.8483480014541, + 227.71662693042248, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 429.3483480014541, + 230.3147031417758, + 0.7575553354941 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 429.3483480014541, + 230.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 431.9464242128074, + 231.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 434.54450042416073, + 233.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 437.14257663551405, + 234.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 439.74065284686736, + 236.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 442.3387290582207, + 237.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 444.936805269574, + 239.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 447.5348814809273, + 240.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 450.1329576922806, + 242.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 452.73103390363394, + 243.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 455.32911011498726, + 245.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 457.9271863263406, + 246.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 460.5252625376939, + 248.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 463.1233387490472, + 249.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 465.7214149604005, + 251.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 468.31949117175384, + 252.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 470.91756738310715, + 254.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 473.51564359446047, + 255.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 476.1137198058138, + 257.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 478.7117960171671, + 258.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 481.3098722285204, + 260.3147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 483.90794843987373, + 261.8147031417758, + 0.7575553354941 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 483.90794843987373, + 261.8147031417758, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 485.40794843987373, + 264.4127793531291, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 486.90794843987373, + 267.0108555644824, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 488.40794843987373, + 269.60893177583574, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 489.90794843987373, + 272.20700798718906, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 491.40794843987373, + 274.8050841985424, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 492.90794843987373, + 277.4031604098957, + 0.7575553354941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 494.40794843987373, + 280.001236621249, + 0.7575553354941 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-42-52_1245644428/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-42-52_1245644428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afb2f6e5abc63b26bb79a963b5226a59e262a7a4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-42-52_1245644428/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1003.6419774501016, + -299.69054393127925, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1002.1419774501016, + -302.28862014263257, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1000.6419774501016, + -304.8866963539859, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 999.1419774501016, + -307.4847725653392, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 997.6419774501016, + -310.0828487766925, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 996.1419774501016, + -312.68092498804583, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 994.6419774501016, + -315.27900119939915, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 993.1419774501016, + -317.87707741075246, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 991.6419774501016, + -320.4751536221058, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 990.1419774501016, + -323.0732298334591, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 988.6419774501016, + -325.6713060448124, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 987.1419774501016, + -328.2693822561657, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 985.6419774501016, + -330.86745846751904, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 984.1419774501016, + -333.46553467887236, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 982.6419774501016, + -336.0636108902257, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 981.1419774501016, + -338.661687101579, + -1.2406463593255488 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 981.1419774501016, + -338.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 981.1419774501016, + -341.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 981.1419774501016, + -344.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 981.1419774501016, + -347.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 981.1419774501016, + -350.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 981.1419774501016, + -353.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 981.1419774501016, + -356.661687101579, + -1.2406463593255488 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 981.1419774501016, + -356.661687101579, + -1.2406463593255488 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 981.1419774501016, + -356.661687101579, + -1.2406463593255488 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 981.1419774501016, + -356.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 978.5439012387483, + -358.161687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 975.9458250273949, + -359.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 973.3477488160415, + -361.161687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 970.7496726046882, + -362.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 968.1515963933348, + -364.161687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 965.5535201819814, + -365.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 962.955443970628, + -367.161687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 960.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 960.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 957.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 954.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 951.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 948.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 945.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 942.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 939.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 936.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 933.3573677592747, + -368.661687101579, + -1.2406463593255488 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-45-14_1693485026/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-45-14_1693485026/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a09bcde20a7ea709c4836b8b42995b855c55c0f4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-45-14_1693485026/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -125.72815557222752, + -314.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -125.72815557222752, + -317.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -125.72815557222752, + -320.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -125.72815557222752, + -323.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -125.72815557222752, + -326.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -125.72815557222752, + -329.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -125.72815557222752, + -332.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -125.72815557222752, + -335.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -125.72815557222752, + -338.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -125.72815557222752, + -341.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -125.72815557222752, + -344.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.72815557222752, + -347.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -125.72815557222752, + -350.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -125.72815557222752, + -353.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -125.72815557222752, + -356.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -125.72815557222752, + -359.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -125.72815557222752, + -362.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -125.72815557222752, + -365.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -125.72815557222752, + -368.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -125.72815557222752, + -371.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -125.72815557222752, + -374.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.72815557222752, + -377.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -125.72815557222752, + -380.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -125.72815557222752, + -383.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -125.72815557222752, + -386.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -125.72815557222752, + -389.396624260756, + 3.736097554119489 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -125.72815557222752, + -389.396624260756, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -127.22815557222752, + -391.99470047210934, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -128.7281555722275, + -394.59277668346266, + 3.736097554119489 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -128.7281555722275, + -394.59277668346266, + 3.736097554119489 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -128.7281555722275, + -394.59277668346266, + 3.736097554119489 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.7281555722275, + -394.59277668346266, + 3.736097554119489 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -128.7281555722275, + -394.59277668346266, + 3.736097554119489 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -128.7281555722275, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -125.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -122.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -119.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -116.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -113.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -110.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -107.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -104.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -101.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -98.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -95.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -92.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -92.72815557222751, + -394.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -90.13007936087419, + -393.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -87.53200314952088, + -391.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -84.93392693816756, + -390.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -82.33585072681424, + -388.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -79.73777451546093, + -387.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -77.13969830410761, + -385.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -74.5416220927543, + -384.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -71.94354588140098, + -382.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -69.34546967004766, + -381.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -66.74739345869435, + -379.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -64.14931724734103, + -378.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -61.551241035987715, + -376.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -58.9531648246344, + -375.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -56.35508861328108, + -373.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -53.75701240192777, + -372.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -51.15893619057445, + -370.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -48.560859979221135, + -369.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -45.96278376786782, + -367.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -43.3647075565145, + -366.09277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -40.76663134516119, + -364.59277668346266, + 3.736097554119489 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -38.16855513380787, + -363.09277668346266, + 3.736097554119489 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-45-45_360022300/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-45-45_360022300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b14d3da2ac7ede4c182045bc36b00f0d9dd25b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-45-45_360022300/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 894.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 897.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 900.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 903.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 906.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 909.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 912.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 915.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 918.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 918.4536646380883, + -216.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 921.0517408494416, + -217.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 923.6498170607949, + -219.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 926.2478932721483, + -220.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 928.8459694835017, + -222.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 931.444045694855, + -223.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 934.0421219062084, + -225.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 936.6401981175618, + -226.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 939.2382743289152, + -228.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 941.8363505402685, + -229.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 944.4344267516219, + -231.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 947.0325029629753, + -232.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 949.6305791743287, + -234.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 952.228655385682, + -235.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 954.8267315970354, + -237.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 957.4248078083888, + -238.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 960.0228840197422, + -240.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 962.6209602310955, + -241.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 965.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 965.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 968.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 971.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 974.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 977.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 980.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 983.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 986.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 989.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 992.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 995.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 998.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1001.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1004.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1007.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1010.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1013.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1016.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1019.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1022.2190364424489, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1025.219036442449, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1028.219036442449, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1031.219036442449, + -243.31410729828366, + -2.694665437433979 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1031.219036442449, + -243.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1033.8171126538023, + -241.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1036.4151888651556, + -240.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1039.013265076509, + -238.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1041.6113412878624, + -237.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1044.2094174992158, + -235.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1046.8074937105691, + -234.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1049.4055699219225, + -232.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1052.0036461332759, + -231.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1054.6017223446293, + -229.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1057.1997985559826, + -228.31410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1059.797874767336, + -226.81410729828366, + -2.694665437433979 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1059.797874767336, + -226.81410729828366, + -2.694665437433979 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1062.797874767336, + -226.81410729828366, + -2.694665437433979 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-46-56_100603786/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-46-56_100603786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c04007949484a70e8eced98dba5396c997363c0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-46-56_100603786/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1003.1528131319558, + -317.71770252830044, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1004.6528131319558, + -315.1196263169471, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1006.1528131319558, + -312.5215501055938, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1007.6528131319558, + -309.9234738942405, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1009.1528131319558, + -307.32539768288717, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1010.6528131319558, + -304.72732147153386, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1012.1528131319558, + -302.12924526018054, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1013.6528131319558, + -299.5311690488272, + 2.033495178849149 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1013.6528131319558, + -299.5311690488272, + 2.033495178849149 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1013.6528131319558, + -299.5311690488272, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1012.1528131319558, + -296.9330928374739, + 2.033495178849149 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1012.1528131319558, + -296.9330928374739, + 2.033495178849149 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1012.1528131319558, + -296.9330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1009.5547369206024, + -295.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1006.956660709249, + -293.9330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1004.3585844978957, + -292.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1001.7605082865423, + -290.9330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 999.1624320751889, + -289.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 996.5643558638355, + -287.9330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 993.9662796524822, + -286.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 991.3682034411288, + -284.9330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 988.7701272297754, + -283.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 986.172051018422, + -281.9330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 983.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 983.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 980.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 977.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 974.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 971.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 968.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 965.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 962.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 959.5739748070687, + -280.4330928374739, + 2.033495178849149 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-47-19_1408960629/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-47-19_1408960629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..158acf433f51d3933574af504802a04f36d2b473 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-47-19_1408960629/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 997.4664563983355, + -180.81466700500627, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 995.9664563983355, + -183.4127432163596, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 994.4664563983355, + -186.0108194277129, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 992.9664563983355, + -188.60889563906622, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 991.4664563983355, + -191.20697185041954, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 989.9664563983355, + -193.80504806177285, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 988.4664563983355, + -196.40312427312617, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 986.9664563983355, + -199.00120048447948, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 985.4664563983355, + -201.5992766958328, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 983.9664563983355, + -204.19735290718612, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 982.4664563983355, + -206.79542911853943, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 980.9664563983355, + -209.39350532989275, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 979.4664563983355, + -211.99158154124606, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 977.9664563983355, + -214.58965775259938, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 976.4664563983355, + -217.1877339639527, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 974.9664563983355, + -219.785810175306, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 973.4664563983355, + -222.38388638665933, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 971.9664563983355, + -224.98196259801264, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 970.4664563983355, + -227.58003880936596, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 968.9664563983355, + -230.17811502071928, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 967.4664563983355, + -232.7761912320726, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 965.9664563983355, + -235.3742674434259, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 964.4664563983355, + -237.97234365477922, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 962.9664563983355, + -240.57041986613254, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 961.4664563983355, + -243.16849607748586, + 4.7826410628078 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 961.4664563983355, + -243.16849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 958.8683801869822, + -244.66849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 956.2703039756288, + -246.16849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 953.6722277642755, + -247.66849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 951.0741515529221, + -249.16849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 948.4760753415687, + -250.66849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 945.8779991302154, + -252.16849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 943.279922918862, + -253.66849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 940.6818467075086, + -255.16849607748586, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 938.0837704961552, + -256.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991512 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 935.4856942848019, + -258.1684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 932.8876180734485, + -259.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 930.2895418620951, + -261.1684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 927.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 927.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 927.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 927.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 927.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 927.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "turn left", + "value": 30, + "yaw": -9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 927.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 930.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 933.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 936.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 939.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 942.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 945.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 948.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 951.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 954.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 957.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 960.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 963.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 966.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 969.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 972.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 975.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 978.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 978.6914656507417, + -262.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 981.2895418620951, + -261.1684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 983.8876180734485, + -259.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 986.4856942848019, + -258.1684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 989.0837704961552, + -256.6684960774858, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 991.6818467075086, + -255.16849607748583, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 994.279922918862, + -253.66849607748583, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 996.8779991302154, + -252.16849607748583, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 999.4760753415687, + -250.66849607748583, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1002.0741515529221, + -249.16849607748583, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1004.6722277642755, + -247.66849607748583, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1007.2703039756288, + -246.16849607748583, + 4.7826410628078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1009.8683801869822, + -244.66849607748583, + 4.7826410628078 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-49-10_1793256508/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-49-10_1793256508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79e736313330e80a64363f7fa5ad0de2b212f3f2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-49-10_1793256508/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 485.9671133717618, + 362.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 485.9671133717618, + 359.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 485.9671133717618, + 356.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 485.9671133717618, + 353.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 485.9671133717618, + 350.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 485.9671133717618, + 347.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 485.9671133717618, + 344.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 485.9671133717618, + 341.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 485.9671133717618, + 338.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 485.9671133717618, + 335.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 485.9671133717618, + 332.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 485.9671133717618, + 329.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 485.9671133717618, + 326.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 485.9671133717618, + 323.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 485.9671133717618, + 320.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 485.9671133717618, + 317.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 485.9671133717618, + 314.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 485.9671133717618, + 311.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 485.9671133717618, + 308.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 485.9671133717618, + 305.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 485.9671133717618, + 302.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 485.9671133717618, + 299.76159506332885, + -4.086635374193808 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 485.9671133717618, + 299.76159506332885, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 487.4671133717618, + 297.16351885197554, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 488.9671133717618, + 294.5654426406222, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 490.4671133717618, + 291.9673664292689, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 491.9671133717618, + 289.3692902179156, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 493.4671133717618, + 286.7712140065623, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 494.9671133717618, + 284.17313779520896, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 496.4671133717618, + 281.57506158385564, + -4.086635374193808 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 496.4671133717618, + 281.57506158385564, + -4.086635374193808 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 496.4671133717618, + 281.57506158385564, + -4.086635374193808 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 496.4671133717618, + 281.57506158385564, + -4.086635374193808 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 496.4671133717618, + 281.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 493.8690371604085, + 280.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 491.27096094905517, + 278.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 488.67288473770185, + 277.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 486.07480852634853, + 275.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 483.4767323149952, + 274.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 480.8786561036419, + 272.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 478.2805798922886, + 271.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 475.68250368093527, + 269.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 473.08442746958195, + 268.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 470.48635125822864, + 266.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 467.8882750468753, + 265.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 465.290198835522, + 263.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 462.6921226241687, + 262.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 460.0940464128154, + 260.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 457.49597020146206, + 259.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 454.89789399010874, + 257.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 452.2998177787554, + 256.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 449.7017415674021, + 254.57506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 447.1036653560488, + 253.07506158385564, + -4.086635374193808 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 447.1036653560488, + 253.07506158385564, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 445.6036653560488, + 250.47698537250233, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 444.1036653560488, + 247.878909161149, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 442.6036653560488, + 245.2808329497957, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 441.1036653560488, + 242.68275673844238, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 439.6036653560488, + 240.08468052708906, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 438.1036653560488, + 237.48660431573575, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 436.6036653560488, + 234.88852810438243, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 435.1036653560488, + 232.29045189302911, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 433.6036653560488, + 229.6923756816758, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 432.1036653560488, + 227.09429947032248, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 430.6036653560488, + 224.49622325896917, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 429.1036653560488, + 221.89814704761585, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 427.6036653560488, + 219.30007083626253, + -4.086635374193808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 426.1036653560488, + 216.70199462490922, + -4.086635374193808 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-5-14_307571472/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-5-14_307571472/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d60fbb0415411259ff8a52361957de535ea4be94 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-5-14_307571472/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 893.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 896.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 899.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 902.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 905.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 908.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 911.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 914.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 917.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 920.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 923.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 926.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 929.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 932.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 935.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 938.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 941.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 944.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 947.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 947.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 947.786900554563, + -400.391475532203, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 949.286900554563, + -397.7933993208497, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 950.786900554563, + -395.19532310949637, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 952.286900554563, + -392.59724689814306, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 953.786900554563, + -389.99917068678974, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 955.286900554563, + -387.4010944754364, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 956.786900554563, + -384.8030182640831, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 958.286900554563, + -382.2049420527298, + 1.3746301824316145 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 958.286900554563, + -382.2049420527298, + 1.3746301824316145 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 958.286900554563, + -382.2049420527298, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 956.786900554563, + -379.6068658413765, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 955.286900554563, + -377.00878963002316, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 953.786900554563, + -374.41071341866984, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 952.286900554563, + -371.8126372073165, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 950.786900554563, + -369.2145609959632, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 949.286900554563, + -366.6164847846099, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 947.786900554563, + -364.0184085732566, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 946.286900554563, + -361.42033236190326, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 944.786900554563, + -358.82225615054995, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 943.286900554563, + -356.22417993919663, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 941.786900554563, + -353.6261037278433, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 940.286900554563, + -351.02802751649, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 938.786900554563, + -348.4299513051367, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 937.286900554563, + -345.83187509378337, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 935.786900554563, + -343.23379888243005, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 934.286900554563, + -340.63572267107673, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 932.786900554563, + -338.0376464597234, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 931.286900554563, + -335.4395702483701, + 1.3746301824316145 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 931.286900554563, + -335.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 931.286900554563, + -332.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 931.286900554563, + -329.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 931.286900554563, + -326.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 931.286900554563, + -323.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 931.286900554563, + -320.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 931.286900554563, + -317.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 931.286900554563, + -314.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 931.286900554563, + -311.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 931.286900554563, + -308.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 931.286900554563, + -305.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 931.286900554563, + -302.4395702483701, + 1.3746301824316145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 931.286900554563, + -299.4395702483701, + 1.3746301824316145 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-50-45_989230775/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-50-45_989230775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63e349c2e3ee402f0701a244a628ddf33bd53cd1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-50-45_989230775/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 899.7111345969131, + -277.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 899.7111345969131, + -280.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 899.7111345969131, + -283.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 899.7111345969131, + -286.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 899.7111345969131, + -289.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 899.7111345969131, + -292.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 899.7111345969131, + -295.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 899.7111345969131, + -298.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 899.7111345969131, + -301.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 899.7111345969131, + -304.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 899.7111345969131, + -307.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 899.7111345969131, + -310.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 899.7111345969131, + -313.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 899.7111345969131, + -316.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 899.7111345969131, + -319.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 899.7111345969131, + -322.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 899.7111345969131, + -325.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 899.7111345969131, + -328.05370437435954, + 2.8253669538878334 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 899.7111345969131, + -328.05370437435954, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 898.2111345969131, + -330.65178058571286, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 896.7111345969131, + -333.2498567970662, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 895.2111345969131, + -335.8479330084195, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 893.7111345969131, + -338.4460092197728, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 892.2111345969131, + -341.0440854311261, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 890.7111345969131, + -343.64216164247944, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 889.2111345969131, + -346.24023785383275, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 887.7111345969131, + -348.83831406518607, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 886.2111345969131, + -351.4363902765394, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 884.7111345969131, + -354.0344664878927, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 883.2111345969131, + -356.632542699246, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 881.7111345969131, + -359.23061891059933, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 880.2111345969131, + -361.82869512195265, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 878.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 878.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 878.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 878.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 878.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 878.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 881.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 884.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 887.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 890.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 893.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 896.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 899.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 902.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 905.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 908.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 911.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 914.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 917.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 920.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 923.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 926.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 929.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 932.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 935.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 938.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 941.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 944.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 947.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 947.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 947.7111345969131, + -364.42677133330596, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 949.2111345969131, + -367.0248475446593, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 950.7111345969131, + -369.6229237560126, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 952.2111345969131, + -372.2209999673659, + 2.8253669538878334 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 952.2111345969131, + -372.2209999673659, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 954.8092108082665, + -373.7209999673659, + 2.8253669538878334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 957.4072870196198, + -375.2209999673659, + 2.8253669538878334 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-51-21_1802491982/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-51-21_1802491982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3368d6b604b8e4537ad0a5698807828518c1d8df --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-51-21_1802491982/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1572.80121290242, + -185.30309649590487, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1571.30121290242, + -182.70502028455155, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1569.80121290242, + -180.10694407319824, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1568.30121290242, + -177.50886786184492, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1566.80121290242, + -174.9107916504916, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1565.30121290242, + -172.3127154391383, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1563.80121290242, + -169.71463922778497, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1562.30121290242, + -167.11656301643166, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1560.80121290242, + -164.51848680507834, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1559.30121290242, + -161.92041059372502, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1557.80121290242, + -159.3223343823717, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1556.30121290242, + -156.7242581710184, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1554.80121290242, + -154.12618195966508, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1553.30121290242, + -151.52810574831176, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1551.80121290242, + -148.93002953695844, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1550.30121290242, + -146.33195332560513, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1548.80121290242, + -143.7338771142518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1547.30121290242, + -141.1358009028985, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1545.80121290242, + -138.53772469154518, + 1.869675572225331 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1545.80121290242, + -138.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1543.2031366910667, + -137.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1540.6050604797133, + -135.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1538.00698426836, + -134.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1535.4089080570066, + -132.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1532.8108318456532, + -131.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1530.2127556342998, + -129.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1527.6146794229464, + -128.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1525.016603211593, + -126.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1522.4185270002397, + -125.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1519.8204507888863, + -123.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1517.222374577533, + -122.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1514.6242983661796, + -120.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1512.0262221548262, + -119.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1509.4281459434728, + -117.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1506.8300697321195, + -116.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1504.231993520766, + -114.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1501.6339173094127, + -113.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1499.0358410980593, + -111.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1496.437764886706, + -110.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1493.8396886753526, + -108.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1491.2416124639992, + -107.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1488.6435362526458, + -105.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1486.0454600412925, + -104.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1483.447383829939, + -102.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1480.8493076185857, + -101.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1478.2512314072324, + -99.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1475.653155195879, + -98.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1473.0550789845256, + -96.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1470.4570027731722, + -95.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1467.8589265618189, + -93.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1465.2608503504655, + -92.03772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1462.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1462.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1459.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1456.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1453.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1450.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1447.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1444.6627741391121, + -90.53772469154518, + 1.869675572225331 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-53-25_1038828826/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-53-25_1038828826/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c50fcbe996103755a129781a720763a3e434ffb2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-53-25_1038828826/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 50.49232717764309, + -671.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 50.49232717764309, + -668.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 50.49232717764309, + -665.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 50.49232717764309, + -662.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 50.49232717764309, + -659.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 50.49232717764309, + -656.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 50.49232717764309, + -653.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 50.49232717764309, + -650.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 50.49232717764309, + -647.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 50.49232717764309, + -644.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 50.49232717764309, + -641.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 50.49232717764309, + -638.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 50.49232717764309, + -635.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 50.49232717764309, + -632.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 50.49232717764309, + -629.8295685811477, + 4.967359232389066 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 50.49232717764309, + -629.8295685811477, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 48.99232717764309, + -627.2314923697943, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 47.49232717764309, + -624.6334161584409, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 45.99232717764309, + -622.0353399470876, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 44.49232717764309, + -619.4372637357342, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 42.99232717764309, + -616.8391875243808, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 41.49232717764309, + -614.2411113130274, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 39.99232717764309, + -611.6430351016741, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 38.49232717764309, + -609.0449588903207, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 36.99232717764309, + -606.4468826789673, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 35.49232717764309, + -603.8488064676139, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 33.99232717764309, + -601.2507302562606, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 32.49232717764309, + -598.6526540449072, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 30.99232717764309, + -596.0545778335538, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 29.49232717764309, + -593.4565016222004, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 27.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 27.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 27.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 27.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 27.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 30.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 33.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 36.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 39.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 42.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 45.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 48.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 51.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 54.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 54.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 54.99232717764309, + -590.8584254108471, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 56.49232717764309, + -588.2603491994937, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 57.99232717764309, + -585.6622729881403, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 59.49232717764309, + -583.064196776787, + 4.967359232389066 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 59.49232717764309, + -583.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 62.09040338899641, + -581.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 64.68847960034972, + -580.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 67.28655581170304, + -578.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 69.88463202305635, + -577.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 72.48270823440967, + -575.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 75.08078444576299, + -574.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 77.6788606571163, + -572.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 80.27693686846962, + -571.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 82.87501307982293, + -569.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 85.47308929117625, + -568.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 88.07116550252957, + -566.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 90.66924171388288, + -565.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 93.2673179252362, + -563.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 95.86539413658952, + -562.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 98.46347034794283, + -560.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 101.06154655929615, + -559.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 103.65962277064946, + -557.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 106.25769898200278, + -556.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 108.8557751933561, + -554.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 111.45385140470941, + -553.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 114.05192761606273, + -551.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 116.65000382741604, + -550.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 119.24808003876936, + -548.564196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 121.84615625012268, + -547.064196776787, + 4.967359232389066 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 124.44423246147599, + -545.564196776787, + 4.967359232389066 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-54-0_173506518/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-54-0_173506518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8341476fee67619a99714f6feced56915af3ce16 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-54-0_173506518/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 490.64307014194026, + 367.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 490.64307014194026, + 364.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 490.64307014194026, + 361.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 490.64307014194026, + 358.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 490.64307014194026, + 355.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 490.64307014194026, + 352.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 490.64307014194026, + 349.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 490.64307014194026, + 346.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 490.64307014194026, + 343.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 490.64307014194026, + 340.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 490.64307014194026, + 337.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 490.64307014194026, + 334.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 490.64307014194026, + 331.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 490.64307014194026, + 328.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 490.64307014194026, + 325.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 490.64307014194026, + 322.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 490.64307014194026, + 319.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 490.64307014194026, + 316.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 490.64307014194026, + 313.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 490.64307014194026, + 310.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 490.64307014194026, + 307.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 490.64307014194026, + 304.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 490.64307014194026, + 301.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 490.64307014194026, + 298.93881853895374, + 2.8921867131651933 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 490.64307014194026, + 298.93881853895374, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 492.14307014194026, + 296.3407423276004, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 493.64307014194026, + 293.7426661162471, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 495.14307014194026, + 291.1445899048938, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 496.64307014194026, + 288.5465136935405, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 498.14307014194026, + 285.94843748218716, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 499.64307014194026, + 283.35036127083384, + 2.8921867131651933 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 499.64307014194026, + 283.35036127083384, + 2.8921867131651933 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 499.64307014194026, + 283.35036127083384, + 2.8921867131651933 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 499.64307014194026, + 283.35036127083384, + 2.8921867131651933 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 499.64307014194026, + 283.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 497.04499393058694, + 281.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 494.4469177192336, + 280.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 491.8488415078803, + 278.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 489.250765296527, + 277.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 486.6526890851737, + 275.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 484.05461287382036, + 274.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 481.45653666246704, + 272.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 478.85846045111373, + 271.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 476.2603842397604, + 269.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 473.6623080284071, + 268.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 471.0642318170538, + 266.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 468.46615560570046, + 265.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 465.86807939434715, + 263.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 463.27000318299383, + 262.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 460.6719269716405, + 260.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 458.0738507602872, + 259.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 455.4757745489339, + 257.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 452.87769833758057, + 256.35036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 450.27962212622725, + 254.85036127083384, + 2.8921867131651933 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 450.27962212622725, + 254.85036127083384, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 448.77962212622725, + 252.25228505948053, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 447.27962212622725, + 249.6542088481272, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 445.77962212622725, + 247.0561326367739, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 444.27962212622725, + 244.45805642542058, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 442.77962212622725, + 241.85998021406726, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 441.27962212622725, + 239.26190400271395, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 439.77962212622725, + 236.66382779136063, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 438.27962212622725, + 234.06575158000732, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 436.77962212622725, + 231.467675368654, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 435.27962212622725, + 228.86959915730068, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 433.77962212622725, + 226.27152294594737, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 432.27962212622725, + 223.67344673459405, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 430.77962212622725, + 221.07537052324074, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 429.27962212622725, + 218.47729431188742, + 2.8921867131651933 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 429.27962212622725, + 218.47729431188742, + 2.8921867131651933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 426.68154591487394, + 216.97729431188742, + 2.8921867131651933 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-54-35_31797565/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-54-35_31797565/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5633a5900ae72868b8777e220ff429ab421d7806 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-54-35_31797565/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1560.7120760354537, + 52.79202355683647, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1559.2120760354537, + 50.19394734548315, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1557.7120760354537, + 47.59587113412984, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1556.2120760354537, + 44.99779492277652, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1554.7120760354537, + 42.399718711423205, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1553.2120760354537, + 39.80164250006989, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1551.7120760354537, + 37.20356628871657, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1550.2120760354537, + 34.60549007736326, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1548.7120760354537, + 32.00741386600994, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1547.2120760354537, + 29.409337654656625, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1545.7120760354537, + 26.81126144330331, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1544.2120760354537, + 24.213185231949993, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1542.7120760354537, + 21.615109020596677, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1541.2120760354537, + 19.01703280924336, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1539.7120760354537, + 16.418956597890045, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1538.2120760354537, + 13.820880386536729, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1536.7120760354537, + 11.222804175183413, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1535.2120760354537, + 8.624727963830097, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1533.7120760354537, + 6.026651752476781, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1532.2120760354537, + 3.4285755411234646, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1530.7120760354537, + 0.8304993297701486, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1529.2120760354537, + -1.7675768815831674, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1527.7120760354537, + -4.365653092936483, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1526.2120760354537, + -6.963729304289799, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1524.7120760354537, + -9.561805515643115, + 3.7085262907734666 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1524.7120760354537, + -9.561805515643115, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1524.7120760354537, + -12.561805515643115, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1524.7120760354537, + -15.561805515643115, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1524.7120760354537, + -18.561805515643115, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1524.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1524.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1524.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1524.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1524.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1527.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1527.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1527.7120760354537, + -21.561805515643115, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1529.2120760354537, + -24.15988172699643, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1530.7120760354537, + -26.757957938349747, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1532.2120760354537, + -29.356034149703063, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1533.7120760354537, + -31.95411036105638, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1535.2120760354537, + -34.552186572409695, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1536.7120760354537, + -37.15026278376301, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1538.2120760354537, + -39.74833899511633, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1539.7120760354537, + -42.34641520646964, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1541.2120760354537, + -44.94449141782296, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1542.7120760354537, + -47.542567629176276, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1544.2120760354537, + -50.14064384052959, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1545.7120760354537, + -52.73872005188291, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1547.2120760354537, + -55.336796263236224, + 3.7085262907734666 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1547.2120760354537, + -55.336796263236224, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1549.810152246807, + -56.836796263236224, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1552.4082284581605, + -58.336796263236224, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1555.0063046695138, + -59.836796263236224, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1557.6043808808672, + -61.336796263236224, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1560.2024570922206, + -62.836796263236224, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1562.800533303574, + -64.33679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1565.3986095149273, + -65.83679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1567.9966857262807, + -67.33679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1570.594761937634, + -68.83679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1573.1928381489874, + -70.33679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1575.7909143603408, + -71.83679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1578.3889905716942, + -73.33679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1580.9870667830476, + -74.83679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1583.585142994401, + -76.33679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1586.1832192057543, + -77.83679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1588.7812954171077, + -79.33679626323622, + 3.7085262907734666 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1588.7812954171077, + -79.33679626323622, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1590.2812954171077, + -81.93487247458954, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1591.7812954171077, + -84.53294868594286, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1593.2812954171077, + -87.13102489729617, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1594.7812954171077, + -89.72910110864949, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1596.2812954171077, + -92.3271773200028, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1597.7812954171077, + -94.92525353135612, + 3.7085262907734666 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1599.2812954171077, + -97.52332974270944, + 3.7085262907734666 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-55-40_80329499/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-55-40_80329499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86c57d4ab303f1a4e05d73b36f16847fcba4dbbd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-55-40_80329499/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -132.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -129.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -126.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -123.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -117.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -114.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -111.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -108.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -102.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -99.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -96.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -96.15405905905303, + -638.3848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -93.55598284769971, + -636.8848227642028, + 3.098827372222308 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -93.55598284769971, + -636.8848227642028, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -92.05598284769971, + -634.2867465528495, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -90.55598284769971, + -631.6886703414962, + 3.098827372222308 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -90.55598284769971, + -631.6886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -87.9579066363464, + -630.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -85.35983042499308, + -628.6886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -82.76175421363976, + -627.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -80.16367800228645, + -625.6886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -77.56560179093313, + -624.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -74.96752557957981, + -622.6886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -72.3694493682265, + -621.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -69.77137315687318, + -619.6886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -67.17329694551987, + -618.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -64.57522073416655, + -616.6886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -61.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -61.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -58.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -55.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -55.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -55.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -55.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -55.977144522813234, + -615.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -55.977144522813234, + -618.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -55.977144522813234, + -621.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -55.977144522813234, + -624.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -55.977144522813234, + -627.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -55.977144522813234, + -630.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -55.977144522813234, + -633.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -55.977144522813234, + -636.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -55.977144522813234, + -639.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -55.977144522813234, + -642.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -55.977144522813234, + -645.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -55.977144522813234, + -648.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -55.977144522813234, + -651.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -55.977144522813234, + -654.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -55.977144522813234, + -657.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -55.977144522813234, + -660.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -55.977144522813234, + -663.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -55.977144522813234, + -666.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -55.977144522813234, + -669.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -55.977144522813234, + -672.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -55.977144522813234, + -675.1886703414962, + 3.098827372222308 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -55.977144522813234, + -675.1886703414962, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -54.477144522813234, + -677.7867465528495, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -52.977144522813234, + -680.3848227642029, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -51.477144522813234, + -682.9828989755563, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -49.977144522813234, + -685.5809751869097, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -48.477144522813234, + -688.179051398263, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -46.977144522813234, + -690.7771276096164, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -45.477144522813234, + -693.3752038209698, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -43.977144522813234, + -695.9732800323231, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -42.477144522813234, + -698.5713562436765, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -40.977144522813234, + -701.1694324550299, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -39.477144522813234, + -703.7675086663833, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -37.977144522813234, + -706.3655848777366, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -36.477144522813234, + -708.96366108909, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -34.977144522813234, + -711.5617373004434, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -33.477144522813234, + -714.1598135117968, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -31.977144522813234, + -716.7578897231501, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -30.477144522813234, + -719.3559659345035, + 3.098827372222308 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -28.977144522813234, + -721.9540421458569, + 3.098827372222308 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-57-24_1578716908/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-57-24_1578716908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7af38e217ac38b028f3754c66c95a37530a49228 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-57-24_1578716908/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 348.40002941099897, + -200.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 348.40002941099897, + -203.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 348.40002941099897, + -206.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 348.40002941099897, + -209.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 348.40002941099897, + -212.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 348.40002941099897, + -215.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.40002941099897, + -218.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 348.40002941099897, + -221.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 348.40002941099897, + -224.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 348.40002941099897, + -227.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 348.40002941099897, + -230.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 348.40002941099897, + -233.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 348.40002941099897, + -236.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 348.40002941099897, + -239.58698583085766, + -1.0961090627903958 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 348.40002941099897, + -239.58698583085766, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 349.90002941099897, + -242.18506204221097, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 351.40002941099897, + -244.7831382535643, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 352.90002941099897, + -247.3812144649176, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 354.40002941099897, + -249.97929067627092, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 355.90002941099897, + -252.57736688762424, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 357.40002941099897, + -255.17544309897755, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 358.90002941099897, + -257.77351931033087, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.40002941099897, + -260.3715955216842, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 361.90002941099897, + -262.9696717330375, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 363.40002941099897, + -265.5677479443908, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 364.90002941099897, + -268.16582415574413, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 366.40002941099897, + -270.76390036709745, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 367.90002941099897, + -273.36197657845076, + -1.0961090627903958 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 367.90002941099897, + -273.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 367.90002941099897, + -276.36197657845076, + -1.0961090627903958 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 367.90002941099897, + -276.36197657845076, + -1.0961090627903958 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 367.90002941099897, + -276.36197657845076, + -1.0961090627903958 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 367.90002941099897, + -276.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 365.30195319964565, + -277.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 362.70387698829234, + -279.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 360.105800776939, + -280.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 357.5077245655857, + -282.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 354.9096483542324, + -283.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 352.3115721428791, + -285.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 349.71349593152576, + -286.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 347.11541972017244, + -288.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 344.5173435088191, + -289.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 341.9192672974658, + -291.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 339.3211910861125, + -292.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 336.7231148747592, + -294.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 334.12503866340586, + -295.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 331.52696245205254, + -297.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 328.9288862406992, + -298.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 326.3308100293459, + -300.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 323.7327338179926, + -301.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 321.1346576066393, + -303.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 318.53658139528596, + -304.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 315.93850518393265, + -306.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 313.34042897257933, + -307.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 310.742352761226, + -309.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 308.1442765498727, + -310.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 305.5462003385194, + -312.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 302.94812412716607, + -313.86197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 300.35004791581275, + -315.36197657845076, + -1.0961090627903958 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 300.35004791581275, + -315.36197657845076, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 298.85004791581275, + -317.9600527898041, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 297.35004791581275, + -320.5581290011574, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 295.85004791581275, + -323.1562052125107, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 294.35004791581275, + -325.75428142386403, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 292.85004791581275, + -328.35235763521734, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 291.35004791581275, + -330.95043384657066, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 289.85004791581275, + -333.548510057924, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 288.35004791581275, + -336.1465862692773, + -1.0961090627903958 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 286.85004791581275, + -338.7446624806306, + -1.0961090627903958 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-59-11_1933084303/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-59-11_1933084303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc98c29975723127427516598170669e6b81a735 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-59-11_1933084303/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 415.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 418.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 421.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 424.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 427.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 430.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 433.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 436.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 439.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 442.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 445.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 448.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 451.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 454.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 457.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 460.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 463.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 463.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 463.51517174416756, + 310.52601479642783, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 465.01517174416756, + 307.9279385850745, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 466.51517174416756, + 305.3298623737212, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 468.01517174416756, + 302.7317861623679, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 469.51517174416756, + 300.13370995101457, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 471.01517174416756, + 297.53563373966125, + -4.29832804030727 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 471.01517174416756, + 297.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 473.6132479555209, + 296.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.2113241668742, + 294.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 478.8094003782275, + 293.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 481.4074765895808, + 291.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 484.00555280093414, + 290.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 486.60362901228746, + 288.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 489.2017052236408, + 287.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 491.7997814349941, + 285.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 494.3978576463474, + 284.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 496.9959338577007, + 282.53563373966125, + -4.29832804030727 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 496.9959338577007, + 282.53563373966125, + -4.29832804030727 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 496.9959338577007, + 282.53563373966125, + -4.29832804030727 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 496.9959338577007, + 282.53563373966125, + -4.29832804030727 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 496.9959338577007, + 282.53563373966125, + -4.29832804030727 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 496.9959338577007, + 282.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 494.3978576463474, + 281.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 491.7997814349941, + 279.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 489.2017052236408, + 278.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 486.60362901228746, + 276.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 484.00555280093414, + 275.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 481.4074765895808, + 273.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 478.8094003782275, + 272.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 476.2113241668742, + 270.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 473.6132479555209, + 269.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 471.01517174416756, + 267.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 468.41709553281424, + 266.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 465.8190193214609, + 264.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 463.2209431101076, + 263.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 460.6228668987543, + 261.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 458.024790687401, + 260.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 455.42671447604766, + 258.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 452.82863826469435, + 257.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 450.23056205334103, + 255.53563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 447.6324858419877, + 254.03563373966125, + -4.29832804030727 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 447.6324858419877, + 254.03563373966125, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 446.1324858419877, + 251.43755752830793, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 444.6324858419877, + 248.83948131695462, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 443.1324858419877, + 246.2414051056013, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 441.6324858419877, + 243.643328894248, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 440.1324858419877, + 241.04525268289467, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 438.6324858419877, + 238.44717647154135, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 437.1324858419877, + 235.84910026018804, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 435.6324858419877, + 233.25102404883472, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 434.1324858419877, + 230.6529478374814, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 432.6324858419877, + 228.0548716261281, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 431.1324858419877, + 225.45679541477477, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 429.6324858419877, + 222.85871920342146, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 428.1324858419877, + 220.26064299206814, + -4.29832804030727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 426.6324858419877, + 217.66256678071483, + -4.29832804030727 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-7-39_1010764797/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-7-39_1010764797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..226c06cae7ba93bf89025ce43d33d86dd5ec24fa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_12-7-39_1010764797/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1475.821091629904, + -96.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1475.821091629904, + -93.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1475.821091629904, + -90.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1475.821091629904, + -87.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1475.821091629904, + -84.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1475.821091629904, + -81.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1475.821091629904, + -78.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1475.821091629904, + -75.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1475.821091629904, + -72.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1475.821091629904, + -69.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1475.821091629904, + -66.540880780836, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1475.821091629904, + -63.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1475.821091629904, + -60.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1475.821091629904, + -57.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1475.821091629904, + -54.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1475.821091629904, + -51.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1475.821091629904, + -48.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1475.821091629904, + -45.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1475.821091629904, + -42.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1475.821091629904, + -39.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1475.821091629904, + -36.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1475.821091629904, + -33.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1475.821091629904, + -30.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1475.821091629904, + -27.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1475.821091629904, + -24.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1475.821091629904, + -21.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1475.821091629904, + -18.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1475.821091629904, + -15.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1475.821091629904, + -12.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1475.821091629904, + -9.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1475.821091629904, + -6.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1475.821091629904, + -3.540880780836005, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1475.821091629904, + -0.5408807808360052, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1475.821091629904, + 2.459119219163995, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1475.821091629904, + 5.459119219163995, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1475.821091629904, + 8.459119219163995, + 2.0600128435195035 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1475.821091629904, + 8.459119219163995, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1474.321091629904, + 11.05719543051731, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1472.821091629904, + 13.655271641870627, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1471.321091629904, + 16.253347853223943, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1469.821091629904, + 18.85142406457726, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1468.321091629904, + 21.449500275930575, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1466.821091629904, + 24.04757648728389, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1465.321091629904, + 26.645652698637207, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1463.821091629904, + 29.243728909990523, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1462.321091629904, + 31.84180512134384, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1460.821091629904, + 34.439881332697155, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1459.321091629904, + 37.03795754405047, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1457.821091629904, + 39.63603375540379, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1456.321091629904, + 42.2341099667571, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1454.821091629904, + 44.83218617811042, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1453.321091629904, + 47.430262389463735, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1451.821091629904, + 50.02833860081705, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1450.321091629904, + 52.62641481217037, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1448.821091629904, + 55.22449102352368, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1447.321091629904, + 57.822567234877, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1445.821091629904, + 60.420643446230315, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1444.321091629904, + 63.01871965758363, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1442.821091629904, + 65.61679586893695, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1441.321091629904, + 68.21487208029026, + 2.0600128435195035 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1441.321091629904, + 68.21487208029026, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1438.7230154185506, + 69.71487208029026, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1436.1249392071973, + 71.21487208029026, + 2.0600128435195035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1433.5268629958439, + 72.71487208029026, + 2.0600128435195035 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-0-24_1098193842/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-0-24_1098193842/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..612d7540bcce07924e61c930e58a59246fecb30e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-0-24_1098193842/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 408.9934741102934, + -583.4638308051664, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 410.4934741102934, + -580.8657545938131, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 411.9934741102934, + -578.2676783824597, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 413.4934741102934, + -575.6696021711064, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 414.9934741102934, + -573.071525959753, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 416.4934741102934, + -570.4734497483996, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 417.9934741102934, + -567.8753735370462, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.4934741102934, + -565.2772973256929, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 420.9934741102934, + -562.6792211143395, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 422.4934741102934, + -560.0811449029861, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 423.9934741102934, + -557.4830686916328, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.4934741102934, + -554.8849924802794, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 426.9934741102934, + -552.286916268926, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 428.4934741102934, + -549.6888400575726, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 429.9934741102934, + -547.0907638462193, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 431.4934741102934, + -544.4926876348659, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.9934741102934, + -541.8946114235125, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 434.4934741102934, + -539.2965352121591, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 435.9934741102934, + -536.6984590008058, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 437.4934741102934, + -534.1003827894524, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.9934741102934, + -531.502306578099, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 440.4934741102934, + -528.9042303667457, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 441.9934741102934, + -526.3061541553923, + -2.9483461206656867 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 441.9934741102934, + -526.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 441.9934741102934, + -523.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 441.9934741102934, + -520.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 441.9934741102934, + -517.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 441.9934741102934, + -514.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 441.9934741102934, + -511.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 441.9934741102934, + -508.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 441.9934741102934, + -505.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 441.9934741102934, + -502.3061541553923, + -2.9483461206656867 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 441.9934741102934, + -502.3061541553923, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 440.4934741102934, + -499.70807794403896, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 438.9934741102934, + -497.11000173268565, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 437.4934741102934, + -494.51192552133233, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 435.9934741102934, + -491.913849309979, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 434.4934741102934, + -489.3157730986257, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 432.9934741102934, + -486.7176968872724, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 431.4934741102934, + -484.11962067591907, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 429.9934741102934, + -481.52154446456575, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 428.4934741102934, + -478.92346825321243, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 426.9934741102934, + -476.3253920418591, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 425.4934741102934, + -473.7273158305058, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 423.9934741102934, + -471.1292396191525, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 422.4934741102934, + -468.53116340779917, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 420.9934741102934, + -465.93308719644585, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 419.4934741102934, + -463.33501098509254, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 417.9934741102934, + -460.7369347737392, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 416.4934741102934, + -458.1388585623859, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 414.9934741102934, + -455.5407823510326, + -2.9483461206656867 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 414.9934741102934, + -455.5407823510326, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 414.9934741102934, + -452.5407823510326, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 414.9934741102934, + -449.5407823510326, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 414.9934741102934, + -446.5407823510326, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 414.9934741102934, + -443.5407823510326, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 414.9934741102934, + -440.5407823510326, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 414.9934741102934, + -437.5407823510326, + -2.9483461206656867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 414.9934741102934, + -434.5407823510326, + -2.9483461206656867 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-10-9_421825361/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-10-9_421825361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca4e6dbfd24f022b0480d54106cae4334c929692 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-10-9_421825361/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 726.2035014311944, + 29.63692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 728.8015776425477, + 31.13692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 731.3996538539011, + 32.63692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 733.9977300652545, + 34.13692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 736.5958062766078, + 35.63692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 739.1938824879612, + 37.13692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 741.7919586993146, + 38.63692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 744.390034910668, + 40.13692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 746.9881111220213, + 41.63692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 749.5861873333747, + 43.13692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 752.1842635447281, + 44.63692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 754.7823397560815, + 46.13692577973123, + -0.5812193216062065 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 754.7823397560815, + 46.13692577973123, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 756.2823397560815, + 48.735001991084545, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 757.7823397560815, + 51.33307820243786, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 759.2823397560815, + 53.93115441379118, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 760.7823397560815, + 56.52923062514449, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 762.2823397560815, + 59.12730683649781, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 763.7823397560815, + 61.725383047851125, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 765.2823397560815, + 64.32345925920444, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 766.7823397560815, + 66.92153547055776, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 768.2823397560815, + 69.51961168191107, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 769.7823397560815, + 72.11768789326439, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 771.2823397560815, + 74.7157641046177, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 772.7823397560815, + 77.31384031597102, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 774.2823397560815, + 79.91191652732434, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 775.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 775.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 775.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 778.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 781.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 781.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 781.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 781.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 781.7823397560815, + 82.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 781.7823397560815, + 79.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 781.7823397560815, + 76.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 781.7823397560815, + 73.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 781.7823397560815, + 70.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 781.7823397560815, + 67.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 781.7823397560815, + 64.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 781.7823397560815, + 61.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 781.7823397560815, + 58.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 781.7823397560815, + 55.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 781.7823397560815, + 52.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 781.7823397560815, + 49.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 781.7823397560815, + 46.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 781.7823397560815, + 43.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 781.7823397560815, + 40.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 781.7823397560815, + 37.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 781.7823397560815, + 34.50999273867765, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 781.7823397560815, + 31.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 781.7823397560815, + 28.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 781.7823397560815, + 25.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 781.7823397560815, + 22.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 781.7823397560815, + 19.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 781.7823397560815, + 16.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 781.7823397560815, + 13.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 781.7823397560815, + 10.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 781.7823397560815, + 7.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 781.7823397560815, + 4.509992738677653, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 781.7823397560815, + 1.5099927386776528, + -0.5812193216062065 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 781.7823397560815, + 1.5099927386776528, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 783.2823397560815, + -1.0880834726756632, + -0.5812193216062065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 784.7823397560815, + -3.686159684028979, + -0.5812193216062065 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-12-21_495375861/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-12-21_495375861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa5ebcc195e673e9ace8998587ff5ad0d7f6e508 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-12-21_495375861/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 885.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 888.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 891.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 894.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 897.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 900.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 903.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 906.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 909.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 912.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 915.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 918.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 918.5561459100801, + -354.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 921.1542221214333, + -355.72277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 923.7522983327867, + -357.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 926.3503745441401, + -358.72277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 928.9484507554935, + -360.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 931.5465269668468, + -361.72277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 934.1446031782002, + -363.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 936.7426793895536, + -364.72277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 939.340755600907, + -366.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 941.9388318122603, + -367.72277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 944.5369080236137, + -369.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 947.1349842349671, + -370.72277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 949.7330604463205, + -372.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 952.3311366576738, + -373.72277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 954.9292128690272, + -375.22277489602754, + 3.4770634366312514 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 954.9292128690272, + -375.22277489602754, + 3.4770634366312514 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 954.9292128690272, + -375.22277489602754, + 3.4770634366312514 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 954.9292128690272, + -375.22277489602754, + 3.4770634366312514 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 954.9292128690272, + -375.22277489602754, + 3.4770634366312514 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 954.9292128690272, + -375.22277489602754, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 953.4292128690272, + -372.62469868467423, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 951.9292128690272, + -370.0266224733209, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 950.4292128690272, + -367.4285462619676, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 948.9292128690272, + -364.8304700506143, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 947.4292128690272, + -362.23239383926096, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 945.9292128690272, + -359.63431762790765, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 944.4292128690272, + -357.03624141655433, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 942.9292128690272, + -354.438165205201, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 941.4292128690272, + -351.8400889938477, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 939.9292128690272, + -349.2420127824944, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 938.4292128690272, + -346.64393657114107, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 936.9292128690272, + -344.04586035978775, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 935.4292128690272, + -341.44778414843444, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 933.9292128690272, + -338.8497079370811, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 932.4292128690272, + -336.2516317257278, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 930.9292128690272, + -333.6535555143745, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 929.4292128690272, + -331.0554793030212, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 927.9292128690272, + -328.45740309166786, + 3.4770634366312514 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 927.9292128690272, + -328.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 927.9292128690272, + -325.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 927.9292128690272, + -322.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 927.9292128690272, + -319.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 927.9292128690272, + -316.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 927.9292128690272, + -313.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 927.9292128690272, + -310.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 927.9292128690272, + -307.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 927.9292128690272, + -304.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 927.9292128690272, + -301.45740309166786, + 3.4770634366312514 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 927.9292128690272, + -298.45740309166786, + 3.4770634366312514 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-12-54_1763360602/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-12-54_1763360602/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d025884c860e476ad7c7a9f516d1a785476bd88 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-12-54_1763360602/pose.jsonl @@ -0,0 +1,1159 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 145.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 142.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 139.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 136.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 133.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 130.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 127.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 124.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 121.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 118.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 115.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 112.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 109.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 106.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 103.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 100.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 97.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 94.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 88.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 85.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 82.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 79.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 76.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 73.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 70.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 67.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 64.1398363768698, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 61.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 55.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 52.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 49.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 46.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 43.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 43.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 43.139836376869795, + -573.6055654523726, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 41.639836376869795, + -576.2036416637259, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 40.139836376869795, + -578.8017178750792, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 38.639836376869795, + -581.3997940864326, + 4.670289601584674 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 38.639836376869795, + -581.3997940864326, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 36.04176016551648, + -582.8997940864326, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 33.44368395416316, + -584.3997940864326, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 30.845607742809847, + -585.8997940864326, + 4.670289601584674 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 30.845607742809847, + -585.8997940864326, + 4.670289601584674 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 30.845607742809847, + -585.8997940864326, + 4.670289601584674 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 30.845607742809847, + -585.8997940864326, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 32.34560774280985, + -588.497870297786, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 33.84560774280985, + -591.0959465091394, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 35.34560774280985, + -593.6940227204927, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 36.84560774280985, + -596.2920989318461, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 38.34560774280985, + -598.8901751431995, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 39.84560774280985, + -601.4882513545529, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 41.34560774280985, + -604.0863275659062, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 42.84560774280985, + -606.6844037772596, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 44.34560774280985, + -609.282479988613, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 45.84560774280985, + -611.8805561999663, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 47.34560774280985, + -614.4786324113197, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 48.84560774280985, + -617.0767086226731, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 50.34560774280985, + -619.6747848340265, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 51.84560774280985, + -622.2728610453798, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 53.34560774280985, + -624.8709372567332, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 54.84560774280985, + -627.4690134680866, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 56.34560774280985, + -630.06708967944, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 57.84560774280985, + -632.6651658907933, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 59.34560774280985, + -635.2632421021467, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 60.84560774280985, + -637.8613183135001, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 62.34560774280985, + -640.4593945248535, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 63.84560774280985, + -643.0574707362068, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 65.34560774280985, + -645.6555469475602, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 66.84560774280985, + -648.2536231589136, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 68.34560774280985, + -650.8516993702669, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 69.84560774280985, + -653.4497755816203, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 71.34560774280985, + -656.0478517929737, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 72.84560774280985, + -658.6459280043271, + 4.670289601584674 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 72.84560774280985, + -658.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 72.84560774280985, + -661.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 72.84560774280985, + -664.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 72.84560774280985, + -667.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 72.84560774280985, + -670.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 72.84560774280985, + -673.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 72.84560774280985, + -676.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 72.84560774280985, + -679.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 72.84560774280985, + -682.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 72.84560774280985, + -685.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + 72.84560774280985, + -688.6459280043271, + 4.670289601584674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + 72.84560774280985, + -691.6459280043271, + 4.670289601584674 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-15-28_461273879/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-15-28_461273879/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef6fe79552d3938a07ec6a9888b34edacdaf28d2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-15-28_461273879/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 203.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 206.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 209.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 212.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 215.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 218.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 221.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 224.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 227.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 227.29761408740978, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 229.8956902987631, + -91.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 232.49376651011642, + -90.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 235.09184272146973, + -88.56398814800787, + 3.093434878050278 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 235.09184272146973, + -88.56398814800787, + 3.093434878050278 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 235.09184272146973, + -88.56398814800787, + 3.093434878050278 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 235.09184272146973, + -88.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 237.68991893282305, + -90.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 240.28799514417636, + -91.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 242.88607135552968, + -93.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 245.484147566883, + -94.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 248.0822237782363, + -96.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 250.68029998958963, + -97.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 253.27837620094294, + -99.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 255.87645241229626, + -100.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 258.4745286236496, + -102.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 261.0726048350029, + -103.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 263.6706810463562, + -105.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 266.2687572577095, + -106.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 268.86683346906284, + -108.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 271.46490968041616, + -109.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 274.0629858917695, + -111.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 276.6610621031228, + -112.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 279.2591383144761, + -114.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 281.8572145258294, + -115.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 284.45529073718274, + -117.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 287.05336694853605, + -118.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 289.65144315988937, + -120.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.2495193712427, + -121.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.847595582596, + -123.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 297.4456717939493, + -124.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 300.04374800530263, + -126.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 302.64182421665595, + -127.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 305.23990042800926, + -129.06398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 307.8379766393626, + -130.56398814800787, + 3.093434878050278 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 310.4360528507159, + -132.06398814800787, + 3.093434878050278 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-17-18_313823293/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-17-18_313823293/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275c49179b749d7bafd2acb25cf58dedeb01aa4b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-17-18_313823293/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1345.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1348.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1351.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1354.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1357.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1360.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1363.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1366.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1369.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1372.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1375.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1378.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1381.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1384.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1387.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1390.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1393.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1393.6521412728878, + 50.767637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1396.2502174842411, + 52.267637171983495, + -3.2687027239822064 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1396.2502174842411, + 52.267637171983495, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1397.7502174842411, + 54.86571338333681, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1399.2502174842411, + 57.46378959469013, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1400.7502174842411, + 60.06186580604344, + -3.2687027239822064 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1400.7502174842411, + 60.06186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1403.3482936955945, + 61.56186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1405.946369906948, + 63.06186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1408.5444461183013, + 64.56186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1411.1425223296546, + 66.06186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1413.740598541008, + 67.56186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1416.3386747523614, + 69.06186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1418.9367509637148, + 70.56186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1421.5348271750681, + 72.06186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1424.1329033864215, + 73.56186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1426.7309795977749, + 75.06186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1429.3290558091282, + 76.56186580604344, + -3.2687027239822064 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1429.3290558091282, + 76.56186580604344, + -3.2687027239822064 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1429.3290558091282, + 76.56186580604344, + -3.2687027239822064 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1429.3290558091282, + 76.56186580604344, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1430.8290558091282, + 73.96378959469013, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1432.3290558091282, + 71.36571338333681, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1433.8290558091282, + 68.7676371719835, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1435.3290558091282, + 66.16956096063018, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1436.8290558091282, + 63.57148474927686, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1438.3290558091282, + 60.97340853792355, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1439.8290558091282, + 58.37533232657023, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1441.3290558091282, + 55.777256115216915, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1442.8290558091282, + 53.1791799038636, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1444.3290558091282, + 50.58110369251028, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1445.8290558091282, + 47.98302748115697, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1447.3290558091282, + 45.38495126980365, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1448.8290558091282, + 42.786875058450335, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1450.3290558091282, + 40.18879884709702, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1451.8290558091282, + 37.5907226357437, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1453.3290558091282, + 34.99264642439039, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1454.8290558091282, + 32.39457021303707, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1456.3290558091282, + 29.796494001683755, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1457.8290558091282, + 27.19841779033044, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1459.3290558091282, + 24.600341578977122, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1460.8290558091282, + 22.002265367623806, + -3.2687027239822064 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1460.8290558091282, + 22.002265367623806, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1463.4271320204816, + 20.502265367623806, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1466.025208231835, + 19.002265367623806, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1468.6232844431884, + 17.502265367623806, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1471.2213606545417, + 16.002265367623806, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1473.819436865895, + 14.502265367623806, + -3.2687027239822064 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1476.4175130772485, + 13.002265367623806, + -3.2687027239822064 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-18-56_1412017135/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-18-56_1412017135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5c05674ec8f040f36f6dbda29f4fc3d243ce6f2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-18-56_1412017135/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 272.78424172946063, + 283.3897814924719, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 271.28424172946063, + 280.7917052811186, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.78424172946063, + 278.1936290697653, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 268.28424172946063, + 275.59555285841196, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 266.78424172946063, + 272.99747664705865, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 265.28424172946063, + 270.39940043570533, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 263.78424172946063, + 267.801324224352, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.28424172946063, + 265.2032480129987, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.78424172946063, + 262.6051718016454, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 259.28424172946063, + 260.00709559029207, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.78424172946063, + 257.40901937893875, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 256.28424172946063, + 254.81094316758544, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 254.78424172946063, + 252.21286695623212, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 253.28424172946063, + 249.6147907448788, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 251.78424172946063, + 247.0167145335255, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 250.28424172946063, + 244.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 248.78424172946063, + 241.82056211081886, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 247.28424172946063, + 239.22248589946554, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 245.78424172946063, + 236.62440968811222, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 244.28424172946063, + 234.0263334767589, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 242.78424172946063, + 231.4282572654056, + 2.0769186725739717 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 242.78424172946063, + 231.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 242.78424172946063, + 228.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 242.78424172946063, + 225.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 242.78424172946063, + 222.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 242.78424172946063, + 219.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 242.78424172946063, + 216.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 242.78424172946063, + 213.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 242.78424172946063, + 210.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 242.78424172946063, + 207.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 242.78424172946063, + 204.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 242.78424172946063, + 201.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 242.78424172946063, + 198.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 242.78424172946063, + 195.4282572654056, + 2.0769186725739717 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 242.78424172946063, + 195.4282572654056, + 2.0769186725739717 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 242.78424172946063, + 195.4282572654056, + 2.0769186725739717 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 242.78424172946063, + 195.4282572654056, + 2.0769186725739717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 242.78424172946063, + 195.4282572654056, + 2.0769186725739717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 242.78424172946063, + 195.4282572654056, + 2.0769186725739717 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 242.78424172946063, + 195.4282572654056, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 244.28424172946063, + 198.0263334767589, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 245.78424172946063, + 200.62440968811222, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 247.28424172946063, + 203.22248589946554, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 248.78424172946063, + 205.82056211081886, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 250.28424172946063, + 208.41863832217217, + 2.0769186725739717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 250.28424172946063, + 208.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 252.88231794081395, + 209.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 255.48039415216726, + 211.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 258.0784703635206, + 212.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 260.6765465748739, + 214.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 263.2746227862272, + 215.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 265.8726989975805, + 217.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 268.47077520893384, + 218.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 271.06885142028716, + 220.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 273.6669276316405, + 221.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 276.2650038429938, + 223.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 278.8630800543471, + 224.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 281.4611562657004, + 226.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 284.05923247705374, + 227.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 286.65730868840706, + 229.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 289.2553848997604, + 230.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 291.8534611111137, + 232.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 294.451537322467, + 233.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 297.0496135338203, + 235.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 299.64768974517364, + 236.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 302.24576595652695, + 238.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 304.84384216788027, + 239.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 307.4419183792336, + 241.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 310.0399945905869, + 242.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 312.6380708019402, + 244.41863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 315.23614701329353, + 245.91863832217217, + 2.0769186725739717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 317.83422322464685, + 247.41863832217217, + 2.0769186725739717 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-2-50_701539807/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-2-50_701539807/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc4b02113cf3ad4615e4957b2499f6df319d339c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-2-50_701539807/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.60384725797512, + -288.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 102.60384725797512, + -291.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 102.60384725797512, + -294.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 102.60384725797512, + -297.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 102.60384725797512, + -300.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 102.60384725797512, + -303.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 102.60384725797512, + -306.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 102.60384725797512, + -309.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.60384725797512, + -312.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.60384725797512, + -315.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 102.60384725797512, + -318.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 102.60384725797512, + -321.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 102.60384725797512, + -324.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 102.60384725797512, + -327.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 102.60384725797512, + -330.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 102.60384725797512, + -333.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.60384725797512, + -336.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 102.60384725797512, + -339.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 102.60384725797512, + -342.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 102.60384725797512, + -345.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 102.60384725797512, + -348.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 102.60384725797512, + -351.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 102.60384725797512, + -354.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 102.60384725797512, + -357.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 102.60384725797512, + -360.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 102.60384725797512, + -363.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 102.60384725797512, + -366.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 102.60384725797512, + -369.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 102.60384725797512, + -372.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 102.60384725797512, + -375.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 102.60384725797512, + -378.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 102.60384725797512, + -381.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 102.60384725797512, + -384.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 102.60384725797512, + -387.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 102.60384725797512, + -390.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 102.60384725797512, + -393.84264254363893, + 0.8402071112506002 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 102.60384725797512, + -393.84264254363893, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 101.10384725797512, + -396.44071875499225, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 99.60384725797512, + -399.03879496634556, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 98.10384725797512, + -401.6368711776989, + 0.8402071112506002 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 98.10384725797512, + -401.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 95.5057710466218, + -403.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 92.90769483526849, + -404.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 90.30961862391517, + -406.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 87.71154241256185, + -407.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 85.11346620120854, + -409.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 82.51538998985522, + -410.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 79.9173137785019, + -412.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 77.31923756714859, + -413.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 74.72116135579527, + -415.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 72.12308514444196, + -416.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 69.52500893308864, + -418.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 66.92693272173533, + -419.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 64.32885651038201, + -421.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 61.730780299028694, + -422.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 59.13270408767538, + -424.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 56.53462787632206, + -425.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 53.936551664968746, + -427.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 51.33847545361543, + -428.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 48.740399242262114, + -430.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 46.1423230309088, + -431.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 43.54424681955548, + -433.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 40.946170608202166, + -434.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 38.34809439684885, + -436.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 35.750018185495534, + -437.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 33.15194197414222, + -439.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 30.553865762788902, + -440.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 27.955789551435586, + -442.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 25.35771334008227, + -443.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 22.759637128728954, + -445.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 20.16156091737564, + -446.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 17.563484706022322, + -448.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 14.965408494669006, + -449.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 12.36733228331569, + -451.1368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 9.769256071962374, + -452.6368711776989, + 0.8402071112506002 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 9.769256071962374, + -452.6368711776989, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 8.269256071962374, + -455.2349473890522, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 6.769256071962375, + -457.8330236004055, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 5.269256071962376, + -460.4310998117588, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 3.769256071962377, + -463.02917602311214, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 2.2692560719623778, + -465.62725223446546, + 0.8402071112506002 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 2.2692560719623778, + -465.62725223446546, + 0.8402071112506002 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -0.32882013939093824, + -467.12725223446546, + 0.8402071112506002 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-20-21_2113556942/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-20-21_2113556942/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0cfe1212ab1e856d9084dd322818584b817a749 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-20-21_2113556942/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1222.7480787627512, + -137.66830491456756, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1224.2480787627512, + -140.26638112592087, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1225.7480787627512, + -142.8644573372742, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1227.2480787627512, + -145.4625335486275, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1228.7480787627512, + -148.06060975998082, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1230.2480787627512, + -150.65868597133414, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1231.7480787627512, + -153.25676218268745, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1233.2480787627512, + -155.85483839404077, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1234.7480787627512, + -158.45291460539408, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1236.2480787627512, + -161.0509908167474, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1237.7480787627512, + -163.64906702810072, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1239.2480787627512, + -166.24714323945403, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1240.7480787627512, + -168.84521945080735, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1242.2480787627512, + -171.44329566216066, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1243.7480787627512, + -174.04137187351398, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1245.2480787627512, + -176.6394480848673, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1246.7480787627512, + -179.2375242962206, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1248.2480787627512, + -181.83560050757393, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1249.7480787627512, + -184.43367671892725, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1251.2480787627512, + -187.03175293028056, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1252.7480787627512, + -189.62982914163388, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1254.2480787627512, + -192.2279053529872, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1255.7480787627512, + -194.8259815643405, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1257.2480787627512, + -197.42405777569383, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1258.7480787627512, + -200.02213398704714, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1260.2480787627512, + -202.62021019840046, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1261.7480787627512, + -205.21828640975377, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1263.2480787627512, + -207.8163626211071, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1264.7480787627512, + -210.4144388324604, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1266.2480787627512, + -213.01251504381372, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1267.7480787627512, + -215.61059125516704, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1269.2480787627512, + -218.20866746652035, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1270.7480787627512, + -220.80674367787367, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1272.2480787627512, + -223.40481988922699, + 4.678083178357301 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1272.2480787627512, + -223.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1272.2480787627512, + -226.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1272.2480787627512, + -229.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1272.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1272.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1272.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1272.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1272.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1275.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1278.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1281.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1284.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1287.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1290.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1293.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1296.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1299.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1302.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1305.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1308.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1308.2480787627512, + -232.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1310.8461549741046, + -230.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1313.444231185458, + -229.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1316.0423073968113, + -227.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1318.6403836081647, + -226.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1321.238459819518, + -224.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1323.8365360308715, + -223.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1326.4346122422248, + -221.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1329.0326884535782, + -220.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1331.6307646649316, + -218.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1334.228840876285, + -217.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1336.8269170876383, + -215.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1339.4249932989917, + -214.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1342.023069510345, + -212.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1344.6211457216984, + -211.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1347.2192219330518, + -209.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1349.8172981444052, + -208.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1352.4153743557586, + -206.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1355.013450567112, + -205.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1357.6115267784653, + -203.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1360.2096029898187, + -202.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1362.807679201172, + -200.90481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1365.4057554125254, + -199.40481988922699, + 4.678083178357301 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1365.4057554125254, + -199.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1368.4057554125254, + -199.40481988922699, + 4.678083178357301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1371.4057554125254, + -199.40481988922699, + 4.678083178357301 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-22-19_2044554163/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-22-19_2044554163/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca49496f05309dd9b931e61644b3d76ad393e044 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-22-19_2044554163/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 50.4071286943975, + 100.62954460462443, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 51.9071286943975, + 103.22762081597774, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 53.4071286943975, + 105.82569702733106, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 54.9071286943975, + 108.42377323868438, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 56.4071286943975, + 111.02184945003769, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 57.9071286943975, + 113.61992566139101, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 59.4071286943975, + 116.21800187274432, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 60.9071286943975, + 118.81607808409764, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 62.4071286943975, + 121.41415429545096, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 63.9071286943975, + 124.01223050680427, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 65.4071286943975, + 126.61030671815759, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 66.9071286943975, + 129.2083829295109, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 68.4071286943975, + 131.8064591408642, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.9071286943975, + 134.40453535221752, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 71.4071286943975, + 137.00261156357084, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 72.9071286943975, + 139.60068777492415, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 74.4071286943975, + 142.19876398627747, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 75.9071286943975, + 144.7968401976308, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 77.4071286943975, + 147.3949164089841, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 78.9071286943975, + 149.99299262033742, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 80.4071286943975, + 152.59106883169073, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 81.9071286943975, + 155.18914504304405, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 83.4071286943975, + 157.78722125439737, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 84.9071286943975, + 160.38529746575068, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 86.4071286943975, + 162.983373677104, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 87.9071286943975, + 165.5814498884573, + 4.898684918122763 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 87.9071286943975, + 165.5814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 90.50520490575082, + 167.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 93.10328111710413, + 168.5814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 95.70135732845745, + 170.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 98.29943353981076, + 171.5814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 100.89750975116408, + 173.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 103.4955859625174, + 174.5814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 106.09366217387071, + 176.0814498884573, + 4.898684918122763 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 106.09366217387071, + 176.0814498884573, + 4.898684918122763 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 106.09366217387071, + 176.0814498884573, + 4.898684918122763 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 106.09366217387071, + 176.0814498884573, + 4.898684918122763 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 106.09366217387071, + 176.0814498884573, + 4.898684918122763 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 106.09366217387071, + 176.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 106.09366217387071, + 173.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 106.09366217387071, + 170.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 106.09366217387071, + 167.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 106.09366217387071, + 164.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 106.09366217387071, + 161.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 106.09366217387071, + 158.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 106.09366217387071, + 155.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 106.09366217387071, + 152.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 106.09366217387071, + 149.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 106.09366217387071, + 146.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 106.09366217387071, + 143.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 106.09366217387071, + 140.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 106.09366217387071, + 137.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 106.09366217387071, + 134.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 106.09366217387071, + 131.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 106.09366217387071, + 128.0814498884573, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 106.09366217387071, + 125.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 106.09366217387071, + 122.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 106.09366217387071, + 119.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 106.09366217387071, + 116.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 106.09366217387071, + 113.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 106.09366217387071, + 110.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 106.09366217387071, + 107.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 106.09366217387071, + 104.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 106.09366217387071, + 101.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 106.09366217387071, + 98.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 106.09366217387071, + 95.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 106.09366217387071, + 92.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 106.09366217387071, + 89.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 106.09366217387071, + 86.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 106.09366217387071, + 83.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 106.09366217387071, + 80.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 106.09366217387071, + 77.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 106.09366217387071, + 74.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 106.09366217387071, + 71.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 106.09366217387071, + 68.08144988845731, + 4.898684918122763 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 106.09366217387071, + 68.08144988845731, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 107.59366217387071, + 65.483373677104, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.09366217387071, + 62.88529746575068, + 4.898684918122763 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 110.59366217387071, + 60.287221254397366, + 4.898684918122763 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-23-1_1631207466/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-23-1_1631207466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..daa5b85689181cac9a532bf3b6f3dc6ef0e17d9e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-23-1_1631207466/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 951.7777302309773, + -171.58361895519363, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 954.7777302309773, + -171.58361895519363, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 957.7777302309773, + -171.58361895519363, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 960.7777302309773, + -171.58361895519363, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 960.7777302309773, + -171.58361895519363, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 960.7777302309773, + -171.58361895519363, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 962.2777302309773, + -174.18169516654694, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 963.7777302309773, + -176.77977137790026, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 965.2777302309773, + -179.37784758925358, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 966.7777302309773, + -181.9759238006069, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 968.2777302309773, + -184.5740000119602, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 969.7777302309773, + -187.17207622331352, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 971.2777302309773, + -189.77015243466684, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 972.7777302309773, + -192.36822864602016, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 974.2777302309773, + -194.96630485737347, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 975.7777302309773, + -197.5643810687268, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 977.2777302309773, + -200.1624572800801, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 978.7777302309773, + -202.76053349143342, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 980.2777302309773, + -205.35860970278674, + 2.7582444156830865 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 980.2777302309773, + -205.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 982.8758064423307, + -206.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 985.4738826536841, + -208.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 988.0719588650375, + -209.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 990.6700350763908, + -211.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 993.2681112877442, + -212.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 995.8661874990976, + -214.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 998.464263710451, + -215.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1001.0623399218043, + -217.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1003.6604161331577, + -218.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1006.2584923445111, + -220.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1008.8565685558644, + -221.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1011.4546447672178, + -223.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1014.0527209785712, + -224.85860970278674, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1014.0527209785712, + -224.85860970278674, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1014.0527209785712, + -224.85860970278674, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1014.0527209785712, + -224.85860970278674, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1014.0527209785712, + -224.85860970278674, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1014.0527209785712, + -224.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1011.4546447672178, + -226.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1008.8565685558644, + -227.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1006.2584923445111, + -229.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1003.6604161331577, + -230.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1001.0623399218043, + -232.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 998.464263710451, + -233.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 995.8661874990976, + -235.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 993.2681112877442, + -236.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 990.6700350763908, + -238.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 988.0719588650375, + -239.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 985.4738826536841, + -241.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 982.8758064423307, + -242.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 980.2777302309773, + -244.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 977.679654019624, + -245.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 975.0815778082706, + -247.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 972.4835015969172, + -248.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 969.8854253855638, + -250.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 967.2873491742105, + -251.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 964.6892729628571, + -253.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 962.0911967515037, + -254.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 959.4931205401504, + -256.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 956.895044328797, + -257.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 954.2969681174436, + -259.35860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 951.6988919060902, + -260.85860970278674, + 2.7582444156830865 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 951.6988919060902, + -260.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 948.6988919060902, + -260.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 945.6988919060902, + -260.85860970278674, + 2.7582444156830865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 942.6988919060902, + -260.85860970278674, + 2.7582444156830865 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-24-3_716898500/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-24-3_716898500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b871cb54f140bd8651d04eb14cc3c3eec1151c8e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-24-3_716898500/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -171.4759302263351, + -77.35469332508598, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -172.9759302263351, + -79.95276953643929, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -174.4759302263351, + -82.55084574779261, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -175.9759302263351, + -85.14892195914592, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -177.4759302263351, + -87.74699817049924, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -178.9759302263351, + -90.34507438185256, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -180.4759302263351, + -92.94315059320587, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -181.9759302263351, + -95.54122680455919, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -183.4759302263351, + -98.1393030159125, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -184.9759302263351, + -100.73737922726582, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -186.4759302263351, + -103.33545543861914, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -187.9759302263351, + -105.93353164997245, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -189.4759302263351, + -108.53160786132577, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -190.9759302263351, + -111.12968407267908, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -192.4759302263351, + -113.7277602840324, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -193.9759302263351, + -116.32583649538572, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -195.4759302263351, + -118.92391270673903, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -196.9759302263351, + -121.52198891809235, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -198.4759302263351, + -124.12006512944566, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -199.9759302263351, + -126.71814134079898, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -201.4759302263351, + -129.3162175521523, + -0.5897938410816508 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -201.4759302263351, + -129.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -201.4759302263351, + -132.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -201.4759302263351, + -135.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -201.4759302263351, + -138.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -201.4759302263351, + -141.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -201.4759302263351, + -144.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -201.4759302263351, + -147.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -201.4759302263351, + -150.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -201.4759302263351, + -153.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -201.4759302263351, + -156.3162175521523, + -0.5897938410816508 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -201.4759302263351, + -156.3162175521523, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -199.9759302263351, + -158.9142937635056, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -198.4759302263351, + -161.51236997485893, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -196.9759302263351, + -164.11044618621224, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -195.4759302263351, + -166.70852239756556, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -193.9759302263351, + -169.30659860891888, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -192.4759302263351, + -171.9046748202722, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -190.9759302263351, + -174.5027510316255, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -189.4759302263351, + -177.10082724297882, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -187.9759302263351, + -179.69890345433214, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -186.4759302263351, + -182.29697966568546, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -184.9759302263351, + -184.89505587703877, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -183.4759302263351, + -187.4931320883921, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -181.9759302263351, + -190.0912082997454, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -180.4759302263351, + -192.68928451109872, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -178.9759302263351, + -195.28736072245204, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -177.4759302263351, + -197.88543693380535, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -175.9759302263351, + -200.48351314515867, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -174.4759302263351, + -203.08158935651198, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -172.9759302263351, + -205.6796655678653, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -171.4759302263351, + -208.27774177921862, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -169.9759302263351, + -210.87581799057193, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -168.4759302263351, + -213.47389420192525, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -166.9759302263351, + -216.07197041327856, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -165.4759302263351, + -218.67004662463188, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -163.9759302263351, + -221.2681228359852, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -162.4759302263351, + -223.8661990473385, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -160.9759302263351, + -226.46427525869183, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -159.4759302263351, + -229.06235147004514, + -0.5897938410816508 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -159.4759302263351, + -229.06235147004514, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -156.87785401498178, + -230.56235147004514, + -0.5897938410816508 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -154.27977780362846, + -232.06235147004514, + -0.5897938410816508 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-25-13_1891066487/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-25-13_1891066487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b385054165d0272a3587ee287668f12c3863077 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-25-13_1891066487/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -53.354507692043796, + -619.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -55.95258390339711, + -621.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -58.55066011475043, + -622.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -61.148736326103744, + -624.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -63.74681253745706, + -625.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -66.34488874881038, + -627.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.94296496016369, + -628.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -71.54104117151701, + -630.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -74.13911738287032, + -631.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.73719359422364, + -633.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.33526980557696, + -634.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.93334601693027, + -636.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -84.53142222828359, + -637.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -87.1294984396369, + -639.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -89.72757465099022, + -640.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -92.32565086234354, + -642.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -94.92372707369685, + -643.5068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -97.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -97.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -100.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -103.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -106.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -109.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -112.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -115.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -118.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -121.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -124.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -127.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -127.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -127.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -127.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.52180328505017, + -645.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -127.52180328505017, + -648.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -127.52180328505017, + -651.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -127.52180328505017, + -654.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -127.52180328505017, + -657.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -127.52180328505017, + -660.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -127.52180328505017, + -663.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -127.52180328505017, + -666.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -127.52180328505017, + -669.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -127.52180328505017, + -672.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -127.52180328505017, + -675.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -127.52180328505017, + -678.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -127.52180328505017, + -681.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -127.52180328505017, + -684.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -127.52180328505017, + -687.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -127.52180328505017, + -690.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -127.52180328505017, + -693.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -127.52180328505017, + -696.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -127.52180328505017, + -699.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -127.52180328505017, + -702.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -127.52180328505017, + -705.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -127.52180328505017, + -708.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -127.52180328505017, + -711.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -127.52180328505017, + -714.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -127.52180328505017, + -717.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -127.52180328505017, + -720.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -127.52180328505017, + -723.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -127.52180328505017, + -726.0068775022404, + -4.690234385657778 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -127.52180328505017, + -729.0068775022404, + -4.690234385657778 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-25-42_382926234/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-25-42_382926234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..417a11e3aeea0730cea956e2073083ccf9a74648 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-25-42_382926234/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 37.08742369891934, + 119.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 39.685499910272654, + 121.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 42.28357612162597, + 122.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 44.881652332979286, + 124.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.4797285443326, + 125.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 50.07780475568592, + 127.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 52.675880967039234, + 128.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 55.27395717839255, + 130.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 57.872033389745866, + 131.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 60.47010960109918, + 133.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 63.0681858124525, + 134.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 65.66626202380581, + 136.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 68.26433823515913, + 137.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 70.86241444651245, + 139.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 73.46049065786576, + 140.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 76.05856686921908, + 142.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 78.6566430805724, + 143.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 81.25471929192571, + 145.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 83.85279550327903, + 146.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 86.45087171463234, + 148.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 89.04894792598566, + 149.64589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 91.64702413733897, + 151.14589622354094, + -2.4143097212901425 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 91.64702413733897, + 151.14589622354094, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 93.14702413733897, + 153.74397243489426, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 94.64702413733897, + 156.34204864624758, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 96.14702413733897, + 158.9401248576009, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 97.64702413733897, + 161.5382010689542, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 99.14702413733897, + 164.13627728030752, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 100.64702413733897, + 166.73435349166084, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 102.14702413733897, + 169.33242970301416, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 103.64702413733897, + 171.93050591436747, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.14702413733897, + 174.5285821257208, + -2.4143097212901425 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 105.14702413733897, + 174.5285821257208, + -2.4143097212901425 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 105.14702413733897, + 174.5285821257208, + -2.4143097212901425 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 105.14702413733897, + 174.5285821257208, + -2.4143097212901425 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 105.14702413733897, + 174.5285821257208, + -2.4143097212901425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 105.14702413733897, + 174.5285821257208, + -2.4143097212901425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 105.14702413733897, + 174.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 105.14702413733897, + 171.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 105.14702413733897, + 168.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 105.14702413733897, + 165.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 105.14702413733897, + 162.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 105.14702413733897, + 159.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 105.14702413733897, + 156.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 105.14702413733897, + 153.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 105.14702413733897, + 150.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 105.14702413733897, + 147.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 105.14702413733897, + 144.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 105.14702413733897, + 141.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 105.14702413733897, + 138.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 105.14702413733897, + 135.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 105.14702413733897, + 132.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 105.14702413733897, + 129.5285821257208, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 105.14702413733897, + 126.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 105.14702413733897, + 123.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 105.14702413733897, + 120.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 105.14702413733897, + 117.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 105.14702413733897, + 114.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 105.14702413733897, + 111.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 105.14702413733897, + 108.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 105.14702413733897, + 105.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 105.14702413733897, + 102.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 105.14702413733897, + 99.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 105.14702413733897, + 96.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 105.14702413733897, + 93.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 105.14702413733897, + 90.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 105.14702413733897, + 87.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 105.14702413733897, + 84.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 105.14702413733897, + 81.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 105.14702413733897, + 78.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 105.14702413733897, + 75.52858212572079, + -2.4143097212901425 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 105.14702413733897, + 75.52858212572079, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 106.64702413733897, + 72.93050591436747, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 108.14702413733897, + 70.33242970301416, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.64702413733897, + 67.73435349166084, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 111.14702413733897, + 65.13627728030752, + -2.4143097212901425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 112.64702413733897, + 62.53820106895421, + -2.4143097212901425 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-28-11_551008693/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-28-11_551008693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6b9a3604bc7da618e2c9181b9f191020266ec77 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-28-11_551008693/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 69.8413078579892, + -539.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 67.24323164663588, + -538.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 64.64515543528256, + -536.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 62.047079223929245, + -535.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 59.44900301257593, + -533.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 56.85092680122261, + -532.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 54.2528505898693, + -530.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 51.65477437851598, + -529.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 49.056698167162665, + -527.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 46.45862195580935, + -526.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 43.86054574445603, + -524.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 41.26246953310272, + -523.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 38.6643933217494, + -521.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 36.066317110396085, + -520.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 33.46824089904277, + -518.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 30.870164687689453, + -517.2019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 28.272088476336137, + -515.7019029517255, + -2.042199526841774 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.272088476336137, + -515.7019029517255, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 26.772088476336137, + -513.1038267403721, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 25.272088476336137, + -510.5057505290188, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 23.772088476336137, + -507.9076743176655, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 22.272088476336137, + -505.3095981063122, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 20.772088476336137, + -502.7115218949589, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 19.272088476336137, + -500.11344568360556, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 17.772088476336137, + -497.51536947225225, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 16.272088476336137, + -494.91729326089893, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 14.772088476336137, + -492.3192170495456, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 13.272088476336137, + -489.7211408381923, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 11.772088476336137, + -487.123064626839, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 10.272088476336137, + -484.52498841548567, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 8.772088476336137, + -481.92691220413235, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 7.272088476336138, + -479.32883599277903, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 5.772088476336139, + -476.7307597814257, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4.2720884763361395, + -474.1326835700724, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2.7720884763361404, + -471.5346073587191, + -2.042199526841774 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2.7720884763361404, + -471.5346073587191, + -2.042199526841774 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2.7720884763361404, + -471.5346073587191, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -0.22791152366385958, + -471.5346073587191, + -2.042199526841774 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -0.22791152366385958, + -471.5346073587191, + -2.042199526841774 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -0.22791152366385958, + -471.5346073587191, + -2.042199526841774 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -0.22791152366385958, + -471.5346073587191, + -2.042199526841774 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -0.22791152366385958, + -471.5346073587191, + -2.042199526841774 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -0.22791152366385958, + -471.5346073587191, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1.2720884763361409, + -468.93653114736577, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2.7720884763361413, + -466.33845493601245, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4.272088476336142, + -463.74037872465914, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 5.772088476336142, + -461.1423025133058, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 7.272088476336142, + -458.5442263019525, + -2.042199526841774 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 7.272088476336142, + -458.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 9.870164687689458, + -457.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 12.468240899042774, + -455.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 15.06631711039609, + -454.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 17.664393321749408, + -452.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 20.262469533102724, + -451.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 22.86054574445604, + -449.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 25.458621955809356, + -448.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 28.056698167162672, + -446.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 30.654774378515988, + -445.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 33.252850589869304, + -443.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 35.85092680122262, + -442.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 38.449003012575936, + -440.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 41.04707922392925, + -439.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 43.64515543528257, + -437.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 46.243231646635884, + -436.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 48.8413078579892, + -434.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 51.439384069342516, + -433.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 54.03746028069583, + -431.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 56.63553649204915, + -430.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 59.233612703402464, + -428.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 61.83168891475578, + -427.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 64.42976512610909, + -425.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 67.0278413374624, + -424.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 69.62591754881572, + -422.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 72.22399376016904, + -421.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 74.82206997152235, + -419.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 77.42014618287567, + -418.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 80.01822239422899, + -416.5442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 82.6162986055823, + -415.0442263019525, + -2.042199526841774 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 82.6162986055823, + -415.0442263019525, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 84.1162986055823, + -412.4461500905992, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 85.6162986055823, + -409.8480738792459, + -2.042199526841774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 87.1162986055823, + -407.24999766789256, + -2.042199526841774 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-3-26_1143849810/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-3-26_1143849810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31c2951e7171e23a9927a5202e01360774c206e0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-3-26_1143849810/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -331.8784223381134, + -132.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -329.2803461267601, + -130.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -326.6822699154068, + -129.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -324.08419370405346, + -127.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -321.48611749270015, + -126.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -318.88804128134683, + -124.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -316.2899650699935, + -123.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -313.6918888586402, + -121.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -311.0938126472869, + -120.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -308.49573643593357, + -118.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -305.89766022458025, + -117.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -303.29958401322693, + -115.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -300.7015078018736, + -114.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -298.1034315905203, + -112.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -295.505355379167, + -111.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -292.90727916781367, + -109.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -290.30920295646035, + -108.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -287.71112674510704, + -106.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -285.1130505337537, + -105.49946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -282.5149743224004, + -103.99946904428535, + 0.3542456320829537 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -282.5149743224004, + -103.99946904428535, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -281.0149743224004, + -101.40139283293203, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -279.5149743224004, + -98.80331662157872, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -278.0149743224004, + -96.2052404102254, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -276.5149743224004, + -93.60716419887208, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -275.0149743224004, + -91.00908798751877, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -273.5149743224004, + -88.41101177616545, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -272.0149743224004, + -85.81293556481214, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -270.5149743224004, + -83.21485935345882, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -269.0149743224004, + -80.6167831421055, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -267.5149743224004, + -78.01870693075219, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -266.0149743224004, + -75.42063071939887, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -264.5149743224004, + -72.82255450804556, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -263.0149743224004, + -70.22447829669224, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -261.5149743224004, + -67.62640208533892, + 0.3542456320829537 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -261.5149743224004, + -67.62640208533892, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -258.9168981110471, + -66.12640208533892, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.3188218996938, + -64.62640208533892, + 0.3542456320829537 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -256.3188218996938, + -64.62640208533892, + 0.3542456320829537 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -256.3188218996938, + -64.62640208533892, + 0.3542456320829537 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -256.3188218996938, + -64.62640208533892, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -256.3188218996938, + -61.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -256.3188218996938, + -58.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -256.3188218996938, + -55.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -256.3188218996938, + -52.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -256.3188218996938, + -49.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -256.3188218996938, + -46.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -256.3188218996938, + -43.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -256.3188218996938, + -40.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -256.3188218996938, + -37.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -256.3188218996938, + -34.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -256.3188218996938, + -31.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -256.3188218996938, + -28.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -256.3188218996938, + -25.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -256.3188218996938, + -22.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -256.3188218996938, + -19.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -256.3188218996938, + -16.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -256.3188218996938, + -13.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -256.3188218996938, + -10.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -256.3188218996938, + -7.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -256.3188218996938, + -4.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -256.3188218996938, + -1.626402085338924, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -256.3188218996938, + 1.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -256.3188218996938, + 4.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -256.3188218996938, + 7.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -256.3188218996938, + 10.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -256.3188218996938, + 13.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -256.3188218996938, + 16.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -256.3188218996938, + 19.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -256.3188218996938, + 22.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -256.3188218996938, + 25.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -256.3188218996938, + 28.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -256.3188218996938, + 31.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -256.3188218996938, + 34.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -256.3188218996938, + 37.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -256.3188218996938, + 40.373597914661076, + 0.3542456320829537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -256.3188218996938, + 43.373597914661076, + 0.3542456320829537 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-30-26_1391927494/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-30-26_1391927494/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b8eb7de7374ca3378ab374a5cd3efebcdf0e8cc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-30-26_1391927494/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -234.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -231.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -228.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -225.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -222.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -219.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -216.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -213.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -210.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -207.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -204.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -201.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -198.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -198.79049720818986, + -262.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -196.19242099683655, + -261.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -193.59434478548323, + -259.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -190.9962685741299, + -258.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -188.3981923627766, + -256.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -185.80011615142328, + -255.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -183.20203994006997, + -253.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -180.60396372871665, + -252.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -178.00588751736333, + -250.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -175.40781130601002, + -249.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -172.8097350946567, + -247.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -170.2116588833034, + -246.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -167.61358267195007, + -244.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -165.01550646059675, + -243.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -162.41743024924344, + -241.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -159.81935403789012, + -240.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -157.2212778265368, + -238.79113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -154.6232016151835, + -237.29113970414147, + 0.31585791220885984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -154.6232016151835, + -237.29113970414147, + 0.31585791220885984 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -154.6232016151835, + -237.29113970414147, + 0.31585791220885984 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -154.6232016151835, + -237.29113970414147, + 0.31585791220885984 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -154.6232016151835, + -237.29113970414147, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -156.1232016151835, + -234.69306349278816, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -157.6232016151835, + -232.09498728143484, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -159.1232016151835, + -229.49691107008152, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -160.6232016151835, + -226.8988348587282, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -162.1232016151835, + -224.3007586473749, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -163.6232016151835, + -221.70268243602158, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -165.1232016151835, + -219.10460622466826, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -166.6232016151835, + -216.50653001331494, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -168.1232016151835, + -213.90845380196163, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -169.6232016151835, + -211.3103775906083, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -171.1232016151835, + -208.712301379255, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -172.6232016151835, + -206.11422516790168, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -174.1232016151835, + -203.51614895654836, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -175.6232016151835, + -200.91807274519505, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -177.1232016151835, + -198.31999653384173, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -178.6232016151835, + -195.72192032248842, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -180.1232016151835, + -193.1238441111351, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -181.6232016151835, + -190.52576789978178, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -183.1232016151835, + -187.92769168842847, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -184.6232016151835, + -185.32961547707515, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -186.1232016151835, + -182.73153926572184, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -187.6232016151835, + -180.13346305436852, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -189.1232016151835, + -177.5353868430152, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -190.6232016151835, + -174.9373106316619, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -192.1232016151835, + -172.33923442030857, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -193.6232016151835, + -169.74115820895526, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -195.1232016151835, + -167.14308199760194, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -196.6232016151835, + -164.54500578624862, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -198.1232016151835, + -161.9469295748953, + 0.31585791220885984 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -198.1232016151835, + -161.9469295748953, + 0.31585791220885984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -200.7212778265368, + -160.4469295748953, + 0.31585791220885984 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-31-4_1051402293/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-31-4_1051402293/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07d98935164dea7cfbe2314b0b47b21b49667ea1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-31-4_1051402293/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3.940500252530441, + -265.082030575926, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2.440500252530442, + -267.6801067872793, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 0.9405002525304427, + -270.27818299863264, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -0.5594997474695567, + -272.87625920998596, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2.059499747469556, + -275.4743354213393, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -3.5594997474695553, + -278.0724116326926, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -5.059499747469554, + -280.6704878440459, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -6.5594997474695536, + -283.2685640553992, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -8.059499747469554, + -285.86664026675254, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -9.559499747469554, + -288.46471647810586, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -11.059499747469554, + -291.0627926894592, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -12.559499747469554, + -293.6608689008125, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -14.059499747469554, + -296.2589451121658, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -15.559499747469554, + -298.8570213235191, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -17.059499747469552, + -301.45509753487244, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393195 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.559499747469552, + -304.05317374622575, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -20.059499747469552, + -306.65124995757907, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -21.559499747469552, + -309.2493261689324, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -23.059499747469552, + -311.8474023802857, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -24.559499747469552, + -314.445478591639, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -26.059499747469552, + -317.04355480299233, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -27.559499747469552, + -319.64163101434565, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -29.059499747469552, + -322.23970722569896, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -30.559499747469552, + -324.8377834370523, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -32.05949974746955, + -327.4358596484056, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -33.55949974746955, + -330.0339358597589, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -35.05949974746955, + -332.63201207111223, + -2.117596981578689 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -35.05949974746955, + -332.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -35.05949974746955, + -335.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -35.05949974746955, + -338.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -35.05949974746955, + -341.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -35.05949974746955, + -344.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -35.05949974746955, + -347.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -35.05949974746955, + -350.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -35.05949974746955, + -353.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -35.05949974746955, + -356.63201207111223, + -2.117596981578689 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -35.05949974746955, + -356.63201207111223, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -33.55949974746955, + -359.23008828246554, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -32.05949974746955, + -361.82816449381886, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -30.559499747469552, + -364.4262407051722, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -29.059499747469552, + -367.0243169165255, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -27.559499747469552, + -369.6223931278788, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -26.059499747469552, + -372.2204693392321, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -24.559499747469552, + -374.81854555058544, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -23.059499747469552, + -377.41662176193876, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -21.559499747469552, + -380.0146979732921, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -20.059499747469552, + -382.6127741846454, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -18.559499747469552, + -385.2108503959987, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -17.059499747469552, + -387.808926607352, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -15.559499747469552, + -390.40700281870534, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -14.059499747469552, + -393.00507903005865, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -12.559499747469552, + -395.60315524141197, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -11.059499747469552, + -398.2012314527653, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -9.559499747469552, + -400.7993076641186, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -8.059499747469552, + -403.3973838754719, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -6.559499747469552, + -405.99546008682523, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -5.059499747469552, + -408.59353629817855, + -2.117596981578689 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -5.059499747469552, + -408.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -5.059499747469552, + -411.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -5.059499747469552, + -414.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -5.059499747469552, + -417.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -5.059499747469552, + -420.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -5.059499747469552, + -423.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -5.059499747469552, + -426.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -5.059499747469552, + -429.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -5.059499747469552, + -432.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -5.059499747469552, + -435.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -5.059499747469552, + -438.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -5.059499747469552, + -441.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -5.059499747469552, + -444.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -5.059499747469552, + -447.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -5.059499747469552, + -450.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -5.059499747469552, + -453.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -5.059499747469552, + -456.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -5.059499747469552, + -459.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -5.059499747469552, + -462.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -5.059499747469552, + -465.59353629817855, + -2.117596981578689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -5.059499747469552, + -468.59353629817855, + -2.117596981578689 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-33-45_1974571475/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-33-45_1974571475/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0db189d5dbc7b4e7b095644cdbd703281e54dcf1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-33-45_1974571475/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1282.083146920807, + 156.9463241724397, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1280.583146920807, + 159.544400383793, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1279.083146920807, + 162.14247659514632, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1277.583146920807, + 164.74055280649964, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1276.083146920807, + 167.33862901785295, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1274.583146920807, + 169.93670522920627, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1273.083146920807, + 172.53478144055958, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1271.583146920807, + 175.1328576519129, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1270.083146920807, + 177.73093386326622, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1268.583146920807, + 180.32901007461953, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1267.083146920807, + 182.92708628597285, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1265.583146920807, + 185.52516249732616, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1264.083146920807, + 188.12323870867948, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1262.583146920807, + 190.7213149200328, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1261.083146920807, + 193.3193911313861, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1259.583146920807, + 195.91746734273943, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1258.083146920807, + 198.51554355409274, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1256.583146920807, + 201.11361976544606, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1255.083146920807, + 203.71169597679938, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1253.583146920807, + 206.3097721881527, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1252.083146920807, + 208.907848399506, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1250.583146920807, + 211.50592461085932, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1249.083146920807, + 214.10400082221264, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1247.583146920807, + 216.70207703356596, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1246.083146920807, + 219.30015324491927, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1244.583146920807, + 221.8982294562726, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1243.083146920807, + 224.4963056676259, + -4.986839077894021 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1243.083146920807, + 224.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1243.083146920807, + 227.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1243.083146920807, + 230.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1243.083146920807, + 233.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1243.083146920807, + 236.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1243.083146920807, + 239.4963056676259, + -4.986839077894021 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1243.083146920807, + 239.4963056676259, + -4.986839077894021 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1243.083146920807, + 239.4963056676259, + -4.986839077894021 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1243.083146920807, + 239.4963056676259, + -4.986839077894021 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1243.083146920807, + 239.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1245.6812231321603, + 237.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1248.2792993435137, + 236.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1250.877375554867, + 234.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1253.4754517662204, + 233.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1256.0735279775738, + 231.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1258.6716041889272, + 230.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1261.2696804002805, + 228.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1263.867756611634, + 227.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1266.4658328229873, + 225.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1269.0639090343407, + 224.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1271.661985245694, + 222.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1274.2600614570474, + 221.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1276.8581376684008, + 219.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1279.4562138797542, + 218.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1282.0542900911075, + 216.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1284.652366302461, + 215.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1287.2504425138143, + 213.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1289.8485187251677, + 212.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1292.446594936521, + 210.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1295.0446711478744, + 209.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1297.6427473592278, + 207.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1300.2408235705811, + 206.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1302.8388997819345, + 204.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1305.436975993288, + 203.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1308.0350522046413, + 201.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1310.6331284159946, + 200.4963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1313.231204627348, + 198.9963056676259, + -4.986839077894021 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1315.8292808387014, + 197.4963056676259, + -4.986839077894021 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-34-16_1501830323/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-34-16_1501830323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..886276118e485eb7eebb9088ac9fdc7b5cff959b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-34-16_1501830323/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -154.04070404080548, + -549.8229024082849, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -152.54070404080548, + -552.4209786196382, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -151.04070404080548, + -555.0190548309915, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -149.54070404080548, + -557.6171310423449, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -148.04070404080548, + -560.2152072536983, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -146.54070404080548, + -562.8132834650517, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -145.04070404080548, + -565.411359676405, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -143.54070404080548, + -568.0094358877584, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -142.04070404080548, + -570.6075120991118, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -140.54070404080548, + -573.2055883104651, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -139.04070404080548, + -575.8036645218185, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -137.54070404080548, + -578.4017407331719, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -136.04070404080548, + -580.9998169445253, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -134.54070404080548, + -583.5978931558786, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -133.04070404080548, + -586.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -131.54070404080548, + -588.7940455785854, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -130.04070404080548, + -591.3921217899388, + -0.38189491416762333 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.04070404080548, + -591.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -130.04070404080548, + -594.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -130.04070404080548, + -597.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -130.04070404080548, + -600.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -130.04070404080548, + -603.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -130.04070404080548, + -606.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.04070404080548, + -609.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -130.04070404080548, + -612.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -130.04070404080548, + -615.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -130.04070404080548, + -618.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -130.04070404080548, + -621.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -130.04070404080548, + -624.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -130.04070404080548, + -627.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -130.04070404080548, + -630.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -130.04070404080548, + -633.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -130.04070404080548, + -636.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -130.04070404080548, + -639.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -130.04070404080548, + -642.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -130.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -130.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -130.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -130.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -130.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -127.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -124.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -121.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -118.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -115.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -112.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -109.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -106.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -103.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -103.04070404080548, + -645.3921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -100.44262782945216, + -643.8921217899388, + -0.38189491416762333 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -100.44262782945216, + -643.8921217899388, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -98.94262782945216, + -641.2940455785854, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -97.44262782945216, + -638.695969367232, + -0.38189491416762333 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -97.44262782945216, + -638.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -94.84455161809885, + -637.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -92.24647540674553, + -635.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -89.64839919539222, + -634.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -87.0503229840389, + -632.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -84.45224677268558, + -631.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -81.85417056133227, + -629.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -79.25609434997895, + -628.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -76.65801813862564, + -626.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -74.05994192727232, + -625.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -71.461865715919, + -623.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -68.86378950456569, + -622.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -66.26571329321237, + -620.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -63.667637081859056, + -619.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -61.06956087050574, + -617.695969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -58.47148465915242, + -616.195969367232, + -0.38189491416762333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -55.87340844779911, + -614.695969367232, + -0.38189491416762333 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-34-51_409098738/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-34-51_409098738/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9af188790f1e3cbd97e20e87558d5e318aac1670 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-34-51_409098738/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1563.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1560.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1557.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1554.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1551.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1548.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1545.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1542.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1539.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1536.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1533.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1530.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1527.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1524.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1521.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1518.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1515.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1512.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1509.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1506.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1503.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1500.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1497.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1494.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1491.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1488.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1485.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1482.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1479.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1476.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1476.6619585743433, + 13.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1474.06388236299, + 11.65242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1471.4658061516366, + 10.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1468.8677299402832, + 8.65242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1466.2696537289298, + 7.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1463.6715775175765, + 5.65242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1461.073501306223, + 4.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1458.4754250948697, + 2.65242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1455.8773488835163, + 1.15242925356778, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1453.279272672163, + -0.34757074643221975, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1450.6811964608096, + -1.8475707464322195, + -1.526804085774176 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1450.6811964608096, + -1.8475707464322195, + -1.526804085774176 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1450.6811964608096, + -1.8475707464322195, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1449.1811964608096, + -4.445646957785535, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1447.6811964608096, + -7.043723169138851, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1446.1811964608096, + -9.641799380492166, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1444.6811964608096, + -12.239875591845482, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1443.1811964608096, + -14.837951803198798, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1441.6811964608096, + -17.436028014552114, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1440.1811964608096, + -20.03410422590543, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1438.6811964608096, + -22.632180437258747, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1437.1811964608096, + -25.230256648612063, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1435.6811964608096, + -27.82833285996538, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1434.1811964608096, + -30.426409071318695, + -1.526804085774176 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1434.1811964608096, + -30.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1434.1811964608096, + -33.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1434.1811964608096, + -36.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1434.1811964608096, + -39.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1434.1811964608096, + -42.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1434.1811964608096, + -45.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1434.1811964608096, + -48.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1434.1811964608096, + -51.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1434.1811964608096, + -54.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1434.1811964608096, + -57.426409071318695, + -1.526804085774176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1434.1811964608096, + -60.426409071318695, + -1.526804085774176 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-35-58_1845716951/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-35-58_1845716951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d417b88f8cb62936ae4ef7b86e59741def124249 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-35-58_1845716951/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 560.0980664909788, + -253.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 557.4999902796255, + -255.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 554.9019140682722, + -256.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 552.3038378569188, + -258.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 549.7057616455654, + -259.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 547.107685434212, + -261.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 544.5096092228587, + -262.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 541.9115330115053, + -264.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 539.3134568001519, + -265.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 536.7153805887986, + -267.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 534.1173043774452, + -268.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 531.5192281660918, + -270.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 528.9211519547384, + -271.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 526.3230757433851, + -273.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 523.7249995320317, + -274.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 521.1269233206783, + -276.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 518.5288471093249, + -277.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 515.9307708979716, + -279.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 513.3326946866182, + -280.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 510.7346184752649, + -282.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 508.13654226391156, + -283.81716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 505.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 505.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 502.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 499.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 496.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 496.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 496.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 496.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 496.53846605255825, + -285.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 496.53846605255825, + -288.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 496.53846605255825, + -291.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 496.53846605255825, + -294.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 496.53846605255825, + -297.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 496.53846605255825, + -300.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 496.53846605255825, + -303.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 496.53846605255825, + -306.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 496.53846605255825, + -309.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 496.53846605255825, + -312.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 496.53846605255825, + -315.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 496.53846605255825, + -318.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 496.53846605255825, + -321.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 496.53846605255825, + -324.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 496.53846605255825, + -327.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 496.53846605255825, + -330.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 496.53846605255825, + -333.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 496.53846605255825, + -336.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 496.53846605255825, + -339.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 496.53846605255825, + -342.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 496.53846605255825, + -345.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 496.53846605255825, + -348.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 496.53846605255825, + -351.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 496.53846605255825, + -354.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 496.53846605255825, + -357.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 496.53846605255825, + -360.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 496.53846605255825, + -363.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 496.53846605255825, + -366.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 496.53846605255825, + -369.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 496.53846605255825, + -372.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 496.53846605255825, + -375.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 496.53846605255825, + -378.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 496.53846605255825, + -381.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 496.53846605255825, + -384.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 496.53846605255825, + -387.31716938420436, + -0.8694650573345095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 496.53846605255825, + -390.31716938420436, + -0.8694650573345095 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-37-38_616716465/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-37-38_616716465/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb645e51a7d08270816832926514853224bffc0c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-37-38_616716465/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1258.119678222566, + -348.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1258.119678222566, + -345.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.119678222566, + -342.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1258.119678222566, + -339.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1258.119678222566, + -336.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1258.119678222566, + -333.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1258.119678222566, + -330.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1258.119678222566, + -327.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1258.119678222566, + -324.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1258.119678222566, + -321.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1258.119678222566, + -318.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1258.119678222566, + -315.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1258.119678222566, + -312.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1258.119678222566, + -309.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1258.119678222566, + -306.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1258.119678222566, + -303.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1258.119678222566, + -300.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1258.119678222566, + -297.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1258.119678222566, + -294.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1258.119678222566, + -291.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1258.119678222566, + -288.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1258.119678222566, + -285.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1258.119678222566, + -282.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1258.119678222566, + -279.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1258.119678222566, + -276.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1258.119678222566, + -273.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1258.119678222566, + -270.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1258.119678222566, + -267.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1258.119678222566, + -264.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1258.119678222566, + -261.2191480274033, + -0.13515243811951638 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1258.119678222566, + -261.2191480274033, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1259.619678222566, + -258.62107181605, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1261.119678222566, + -256.0229956046967, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1262.619678222566, + -253.42491939334337, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1264.119678222566, + -250.82684318199006, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1265.619678222566, + -248.22876697063674, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1267.119678222566, + -245.63069075928342, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1268.619678222566, + -243.0326145479301, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1270.119678222566, + -240.4345383365768, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1271.619678222566, + -237.83646212522348, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1273.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1273.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1273.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1273.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1276.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1279.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1282.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1285.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1288.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1291.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1294.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1297.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1300.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1303.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1306.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1309.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1309.119678222566, + -235.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1311.7177544339195, + -233.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1314.3158306452729, + -232.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1316.9139068566262, + -230.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1319.5119830679796, + -229.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1322.110059279333, + -227.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1324.7081354906863, + -226.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1327.3062117020397, + -224.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1329.904287913393, + -223.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1332.5023641247465, + -221.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1335.1004403360998, + -220.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1337.6985165474532, + -218.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1340.2965927588066, + -217.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1342.89466897016, + -215.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1345.4927451815133, + -214.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1348.0908213928667, + -212.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1350.68889760422, + -211.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1353.2869738155734, + -209.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1355.8850500269268, + -208.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1358.4831262382802, + -206.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1361.0812024496336, + -205.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1363.679278660987, + -203.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1366.2773548723403, + -202.23838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1368.8754310836937, + -200.73838591387016, + -0.13515243811951638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1371.473507295047, + -199.23838591387016, + -0.13515243811951638 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-37-6_1010014811/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-37-6_1010014811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d77edb15b3370348ce3653c7e545cd45a1f60d4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-37-6_1010014811/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 914.8018829380615, + -500.53763070800983, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 913.3018829380615, + -497.9395544966565, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 911.8018829380615, + -495.3414782853032, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 910.3018829380615, + -492.7434020739499, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 908.8018829380615, + -490.14532586259656, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 907.3018829380615, + -487.54724965124325, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 905.8018829380615, + -484.94917343988993, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 904.3018829380615, + -482.3510972285366, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 902.8018829380615, + -479.7530210171833, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 901.3018829380615, + -477.15494480583, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 899.8018829380615, + -474.55686859447667, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 898.3018829380615, + -471.95879238312335, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 896.8018829380615, + -469.36071617177004, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 895.3018829380615, + -466.7626399604167, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 893.8018829380615, + -464.1645637490634, + -4.2039156093275745 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 893.8018829380615, + -464.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 891.2038067267081, + -462.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 888.6057305153547, + -461.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 886.0076543040013, + -459.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 883.409578092648, + -458.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 880.8115018812946, + -456.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 878.2134256699412, + -455.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 875.6153494585878, + -453.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 873.0172732472345, + -452.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 870.4191970358811, + -450.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 867.8211208245277, + -449.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 865.2230446131744, + -447.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 862.624968401821, + -446.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 860.0268921904676, + -444.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 857.4288159791142, + -443.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 854.8307397677609, + -441.6645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 852.2326635564075, + -440.1645637490634, + -4.2039156093275745 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 852.2326635564075, + -440.1645637490634, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 850.7326635564075, + -437.5664875377101, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 849.2326635564075, + -434.9684113263568, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 847.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 847.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 847.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 847.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 847.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 847.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 850.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 853.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 856.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 859.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 862.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 865.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 868.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 871.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 874.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 877.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 880.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 883.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 886.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 889.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 892.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 895.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 898.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 898.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 898.7326635564075, + -432.37033511500346, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 900.2326635564075, + -429.77225890365014, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 901.7326635564075, + -427.1741826922968, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 903.2326635564075, + -424.5761064809435, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 904.7326635564075, + -421.9780302695902, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 906.2326635564075, + -419.3799540582369, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 907.7326635564075, + -416.78187784688356, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 909.2326635564075, + -414.18380163553024, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 910.7326635564075, + -411.5857254241769, + -4.2039156093275745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 912.2326635564075, + -408.9876492128236, + -4.2039156093275745 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-38-51_1396768681/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-38-51_1396768681/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cfa99e6b530313f61f7ed306eae58216b01339b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-38-51_1396768681/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1382.7568575106197, + -295.9773727729007, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1381.2568575106197, + -293.3792965615474, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1379.7568575106197, + -290.7812203501941, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1378.2568575106197, + -288.18314413884076, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1376.7568575106197, + -285.58506792748744, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1375.2568575106197, + -282.9869917161341, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1373.7568575106197, + -280.3889155047808, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1372.2568575106197, + -277.7908392934275, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1370.7568575106197, + -275.1927630820742, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1369.2568575106197, + -272.59468687072086, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1367.7568575106197, + -269.99661065936755, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1366.2568575106197, + -267.39853444801423, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1364.7568575106197, + -264.8004582366609, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1363.2568575106197, + -262.2023820253076, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1361.7568575106197, + -259.6043058139543, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1360.2568575106197, + -257.00622960260097, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1358.7568575106197, + -254.40815339124765, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1357.2568575106197, + -251.81007717989434, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1355.7568575106197, + -249.21200096854102, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1354.2568575106197, + -246.6139247571877, + -4.88549302572701 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1354.2568575106197, + -246.6139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1351.6587812992664, + -245.1139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1349.060705087913, + -243.6139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1346.4626288765596, + -242.1139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1343.8645526652062, + -240.6139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1341.2664764538529, + -239.1139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1338.6684002424995, + -237.6139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1336.0703240311461, + -236.1139247571877, + -4.88549302572701 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1336.0703240311461, + -236.1139247571877, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1334.5703240311461, + -233.5158485458344, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1333.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1333.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1333.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1333.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1333.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1333.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1336.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1339.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1342.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1345.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1348.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1351.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1354.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1357.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1360.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1360.0703240311461, + -230.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1362.6684002424995, + -229.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1365.2664764538529, + -227.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1367.8645526652062, + -226.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1370.4626288765596, + -224.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1373.060705087913, + -223.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1375.6587812992664, + -221.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1378.2568575106197, + -220.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1380.854933721973, + -218.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1383.4530099333265, + -217.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1386.0510861446799, + -215.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1388.6491623560332, + -214.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1391.2472385673866, + -212.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1393.84531477874, + -211.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1396.4433909900933, + -209.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1399.0414672014467, + -208.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1401.6395434128, + -206.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1404.2376196241535, + -205.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1406.8356958355068, + -203.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1409.4337720468602, + -202.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1412.0318482582136, + -200.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1414.629924469567, + -199.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1417.2280006809203, + -197.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1419.8260768922737, + -196.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1422.424153103627, + -194.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1425.0222293149804, + -193.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1427.6203055263338, + -191.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1430.2183817376872, + -190.41777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1432.8164579490406, + -188.91777233448107, + -4.88549302572701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1435.414534160394, + -187.41777233448107, + -4.88549302572701 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-4-4_934618834/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-4-4_934618834/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a416d6f2b7634e8e62580472b4dca38ed4f5296 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-4-4_934618834/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 778.5948706159099, + -446.25576187746043, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 781.1929468272633, + -444.75576187746043, + -3.103750559886139 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 781.1929468272633, + -444.75576187746043, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 782.6929468272633, + -442.1576856661071, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 784.1929468272633, + -439.5596094547538, + -3.103750559886139 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 784.1929468272633, + -439.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 786.7910230386167, + -438.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 789.3890992499701, + -436.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 791.9871754613234, + -435.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 794.5852516726768, + -433.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 797.1833278840302, + -432.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 799.7814040953836, + -430.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 802.3794803067369, + -429.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 804.9775565180903, + -427.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 807.5756327294437, + -426.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 810.173708940797, + -424.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 812.7717851521504, + -423.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 815.3698613635038, + -421.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 817.9679375748572, + -420.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 820.5660137862105, + -418.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 823.1640899975639, + -417.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 825.7621662089173, + -415.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 828.3602424202707, + -414.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 830.958318631624, + -412.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 833.5563948429774, + -411.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 836.1544710543308, + -409.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 838.7525472656841, + -408.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 841.3506234770375, + -406.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 843.9486996883909, + -405.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 846.5467758997443, + -403.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 849.1448521110976, + -402.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 851.742928322451, + -400.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 854.3410045338044, + -399.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 856.9390807451578, + -397.5596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 859.5371569565111, + -396.0596094547538, + -3.103750559886139 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 859.5371569565111, + -396.0596094547538, + -3.103750559886139 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 859.5371569565111, + -396.0596094547538, + -3.103750559886139 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 859.5371569565111, + -396.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 859.5371569565111, + -393.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 859.5371569565111, + -390.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 859.5371569565111, + -387.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 859.5371569565111, + -384.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 859.5371569565111, + -381.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 859.5371569565111, + -378.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 859.5371569565111, + -375.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 859.5371569565111, + -372.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 859.5371569565111, + -369.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 859.5371569565111, + -366.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 859.5371569565111, + -363.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 859.5371569565111, + -360.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 859.5371569565111, + -357.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 859.5371569565111, + -354.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 859.5371569565111, + -351.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 859.5371569565111, + -348.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 859.5371569565111, + -345.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 859.5371569565111, + -342.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 859.5371569565111, + -339.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 859.5371569565111, + -336.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 859.5371569565111, + -333.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 859.5371569565111, + -330.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 859.5371569565111, + -327.0596094547538, + -3.103750559886139 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 859.5371569565111, + -327.0596094547538, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 861.0371569565111, + -324.4615332434005, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 862.5371569565111, + -321.86345703204717, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 864.0371569565111, + -319.26538082069385, + -3.103750559886139 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 865.5371569565111, + -316.66730460934053, + -3.103750559886139 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-41-36_253674535/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-41-36_253674535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b2d46aee20674205b91b7a5915db03ca2041628 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-41-36_253674535/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -116.61197716575516, + -796.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -114.01390095440185, + -794.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -111.41582474304853, + -793.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -108.81774853169522, + -791.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -106.2196723203419, + -790.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -103.62159610898858, + -788.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.02351989763527, + -787.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.42544368628195, + -785.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -95.82736747492864, + -784.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -93.22929126357532, + -782.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -90.631215052222, + -781.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -88.03313884086869, + -779.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.43506262951537, + -778.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -82.83698641816206, + -776.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -80.23891020680874, + -775.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -77.64083399545542, + -773.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -75.04275778410211, + -772.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -72.44468157274879, + -770.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -69.84660536139548, + -769.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -67.24852915004216, + -767.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -64.65045293868884, + -766.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -62.05237672733553, + -764.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -59.45430051598221, + -763.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -56.856224304628896, + -761.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -54.25814809327558, + -760.3169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -51.66007188192226, + -758.8169777721737, + -1.2282570838144666 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -51.66007188192226, + -758.8169777721737, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -50.16007188192226, + -756.2189015608203, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -48.66007188192226, + -753.6208253494669, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -47.16007188192226, + -751.0227491381136, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -45.66007188192226, + -748.4246729267602, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -44.16007188192226, + -745.8265967154068, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -42.66007188192226, + -743.2285205040534, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -41.16007188192226, + -740.6304442927001, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -39.66007188192226, + -738.0323680813467, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -38.16007188192226, + -735.4342918699933, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -36.66007188192226, + -732.83621565864, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -35.16007188192226, + -730.2381394472866, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -33.66007188192226, + -727.6400632359332, + -1.2282570838144666 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -33.66007188192226, + -727.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -31.061995670568948, + -726.1400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -28.46391945921563, + -724.6400632359332, + -1.2282570838144666 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -28.46391945921563, + -724.6400632359332, + -1.2282570838144666 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -28.46391945921563, + -724.6400632359332, + -1.2282570838144666 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -28.46391945921563, + -724.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -28.46391945921563, + -721.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -28.46391945921563, + -718.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -28.46391945921563, + -715.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -28.46391945921563, + -712.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -28.46391945921563, + -709.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -28.46391945921563, + -706.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -28.46391945921563, + -703.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -28.46391945921563, + -700.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -28.46391945921563, + -697.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -28.46391945921563, + -694.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -28.46391945921563, + -691.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -28.46391945921563, + -688.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -28.46391945921563, + -685.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -28.46391945921563, + -682.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -28.46391945921563, + -679.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -28.46391945921563, + -676.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -28.46391945921563, + -673.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -28.46391945921563, + -670.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -28.46391945921563, + -667.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -28.46391945921563, + -664.6400632359332, + -1.2282570838144666 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -28.46391945921563, + -664.6400632359332, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -29.96391945921563, + -662.0419870245798, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -31.46391945921563, + -659.4439108132265, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -32.96391945921563, + -656.8458346018731, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -34.46391945921563, + -654.2477583905197, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -35.96391945921563, + -651.6496821791663, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -37.46391945921563, + -649.051605967813, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -38.96391945921563, + -646.4535297564596, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -40.46391945921563, + -643.8554535451062, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -41.96391945921563, + -641.2573773337529, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -43.46391945921563, + -638.6593011223995, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -44.96391945921563, + -636.0612249110461, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -46.46391945921563, + -633.4631486996927, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -47.96391945921563, + -630.8650724883394, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -49.46391945921563, + -628.266996276986, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -50.96391945921563, + -625.6689200656326, + -1.2282570838144666 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -50.96391945921563, + -625.6689200656326, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -50.96391945921563, + -622.6689200656326, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -50.96391945921563, + -619.6689200656326, + -1.2282570838144666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -50.96391945921563, + -616.6689200656326, + -1.2282570838144666 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-41-4_224048977/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-41-4_224048977/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a93441803074583e88b149263e955d664d8c1fb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-41-4_224048977/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 711.812885247449, + 35.35830541968136, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 714.4109614588024, + 33.85830541968136, + 0.5710715022062018 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 714.4109614588024, + 33.85830541968136, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 715.9109614588024, + 31.26022920832804, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 717.4109614588024, + 28.662152996974726, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 718.9109614588024, + 26.06407678562141, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 720.4109614588024, + 23.466000574268094, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 721.9109614588024, + 20.867924362914778, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 723.4109614588024, + 18.26984815156146, + 0.5710715022062018 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 723.4109614588024, + 18.26984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 726.0090376701557, + 16.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 728.6071138815091, + 15.269848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 731.2051900928625, + 13.769848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 733.8032663042159, + 12.269848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 736.4013425155692, + 10.769848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 738.9994187269226, + 9.269848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 741.597494938276, + 7.769848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 744.1955711496294, + 6.269848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 746.7936473609827, + 4.769848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 749.3917235723361, + 3.2698481515614617, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 751.9897997836895, + 1.769848151561462, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 754.5878759950429, + 0.26984815156146214, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 757.1859522063962, + -1.2301518484385376, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 759.7840284177496, + -2.7301518484385374, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 762.382104629103, + -4.230151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 764.9801808404563, + -5.730151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 767.5782570518097, + -7.230151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 770.1763332631631, + -8.730151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 772.7744094745165, + -10.230151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 775.3724856858698, + -11.730151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 777.9705618972232, + -13.230151848438537, + 0.5710715022062018 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 777.9705618972232, + -13.230151848438537, + 0.5710715022062018 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 777.9705618972232, + -13.230151848438537, + 0.5710715022062018 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 777.9705618972232, + -13.230151848438537, + 0.5710715022062018 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 777.9705618972232, + -13.230151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 777.9705618972232, + -10.230151848438537, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 777.9705618972232, + -7.2301518484385365, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 777.9705618972232, + -4.2301518484385365, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 777.9705618972232, + -1.2301518484385365, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 777.9705618972232, + 1.7698481515614635, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 777.9705618972232, + 4.7698481515614635, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 777.9705618972232, + 7.7698481515614635, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 777.9705618972232, + 10.769848151561463, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 777.9705618972232, + 13.769848151561463, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 777.9705618972232, + 16.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 777.9705618972232, + 19.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 777.9705618972232, + 22.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 777.9705618972232, + 25.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 777.9705618972232, + 28.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 777.9705618972232, + 31.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 777.9705618972232, + 34.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 777.9705618972232, + 37.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 777.9705618972232, + 40.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 777.9705618972232, + 43.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 777.9705618972232, + 46.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 777.9705618972232, + 49.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 777.9705618972232, + 52.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 777.9705618972232, + 55.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 777.9705618972232, + 58.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 777.9705618972232, + 61.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 777.9705618972232, + 64.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 777.9705618972232, + 67.76984815156146, + 0.5710715022062018 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 777.9705618972232, + 67.76984815156146, + 0.5710715022062018 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 777.9705618972232, + 67.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 780.5686381085766, + 69.26984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 783.16671431993, + 70.76984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 785.7647905312833, + 72.26984815156146, + 0.5710715022062018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 788.3628667426367, + 73.76984815156146, + 0.5710715022062018 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-42-16_1820965014/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-42-16_1820965014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac3422fad0128d4c65b1b49413be4423c7d1900f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-42-16_1820965014/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 123.03126405191107, + -564.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.43318784055775, + -566.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 117.83511162920443, + -567.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 115.23703541785112, + -569.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 112.6389592064978, + -570.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 110.04088299514449, + -572.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 107.44280678379117, + -573.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 104.84473057243785, + -575.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.24665436108454, + -576.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 99.64857814973122, + -578.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 97.0505019383779, + -579.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.45242572702459, + -581.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 91.85434951567127, + -582.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 89.25627330431796, + -584.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.65819709296464, + -585.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 84.06012088161133, + -587.3718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 81.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 81.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 78.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 75.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 72.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 69.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 66.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 63.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 60.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 57.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 54.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 51.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 48.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 45.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 42.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 39.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 36.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 33.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 33.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 33.46204467025801, + -588.8718572120014, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 34.96204467025801, + -591.4699334233546, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 36.46204467025801, + -594.068009634708, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 37.96204467025801, + -596.6660858460614, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 39.46204467025801, + -599.2641620574148, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.96204467025801, + -601.8622382687681, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 42.46204467025801, + -604.4603144801215, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 43.96204467025801, + -607.0583906914749, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 45.46204467025801, + -609.6564669028282, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 46.96204467025801, + -612.2545431141816, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 48.46204467025801, + -614.852619325535, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 49.96204467025801, + -617.4506955368884, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 51.46204467025801, + -620.0487717482417, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 52.96204467025801, + -622.6468479595951, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 54.46204467025801, + -625.2449241709485, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 55.96204467025801, + -627.8430003823019, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 57.46204467025801, + -630.4410765936552, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 58.96204467025801, + -633.0391528050086, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 60.46204467025801, + -635.637229016362, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 61.96204467025801, + -638.2353052277153, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 63.46204467025801, + -640.8333814390687, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 64.96204467025801, + -643.4314576504221, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 66.46204467025801, + -646.0295338617755, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 67.96204467025801, + -648.6276100731288, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 69.46204467025801, + -651.2256862844822, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 70.96204467025801, + -653.8237624958356, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 72.46204467025801, + -656.421838707189, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 73.96204467025801, + -659.0199149185423, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 75.46204467025801, + -661.6179911298957, + -4.935031091775884 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 75.46204467025801, + -661.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 75.46204467025801, + -664.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 75.46204467025801, + -667.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 75.46204467025801, + -670.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 75.46204467025801, + -673.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 75.46204467025801, + -676.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 75.46204467025801, + -679.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 75.46204467025801, + -682.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 75.46204467025801, + -685.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 75.46204467025801, + -688.6179911298957, + -4.935031091775884 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 75.46204467025801, + -691.6179911298957, + -4.935031091775884 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-42-51_2115115464/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-42-51_2115115464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c44f006431af638d8a4b3cb84cde8b1209b7b1ab --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-42-51_2115115464/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -8.462139430289852, + -344.90233626337044, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -6.962139430289852, + -347.50041247472376, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -5.462139430289852, + -350.0984886860771, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -3.962139430289852, + -352.6965648974304, + -0.08439191919939226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -3.962139430289852, + -352.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1.3640632189365358, + -354.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1.2340129924167802, + -355.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3.832089203770096, + -357.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 6.430165415123412, + -358.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 9.028241626476728, + -360.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 11.626317837830044, + -361.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 14.22439404918336, + -363.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 16.822470260536676, + -364.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 19.420546471889992, + -366.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 22.018622683243308, + -367.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 24.616698894596624, + -369.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 27.21477510594994, + -370.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 29.812851317303256, + -372.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 32.41092752865657, + -373.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 35.00900374000989, + -375.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 37.607079951363204, + -376.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 40.20515616271652, + -378.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.803232374069836, + -379.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 45.40130858542315, + -381.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 47.99938479677647, + -382.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 50.597461008129784, + -384.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 53.1955372194831, + -385.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 55.793613430836416, + -387.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 58.39168964218973, + -388.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 60.98976585354305, + -390.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 63.587842064896364, + -391.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 66.18591827624968, + -393.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 68.783994487603, + -394.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 71.38207069895631, + -396.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 73.98014691030963, + -397.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 76.57822312166294, + -399.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 79.17629933301626, + -400.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 81.77437554436958, + -402.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 84.37245175572289, + -403.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 86.97052796707621, + -405.1965648974304, + -0.08439191919939226 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 86.97052796707621, + -405.1965648974304, + -0.08439191919939226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 86.97052796707621, + -405.1965648974304, + -0.08439191919939226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 86.97052796707621, + -405.1965648974304, + -0.08439191919939226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 86.97052796707621, + -405.1965648974304, + -0.08439191919939226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 86.97052796707621, + -405.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 84.37245175572289, + -406.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 81.77437554436958, + -408.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 79.17629933301626, + -409.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 76.57822312166294, + -411.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 73.98014691030963, + -412.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 71.38207069895631, + -414.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 68.783994487603, + -415.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 66.18591827624968, + -417.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 63.587842064896364, + -418.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 60.98976585354305, + -420.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 58.39168964218973, + -421.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 55.793613430836416, + -423.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 53.1955372194831, + -424.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 50.597461008129784, + -426.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 47.99938479677647, + -427.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 45.40130858542315, + -429.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 42.803232374069836, + -430.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 40.20515616271652, + -432.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 37.607079951363204, + -433.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 35.00900374000989, + -435.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 32.41092752865657, + -436.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 29.812851317303256, + -438.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 27.21477510594994, + -439.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 24.616698894596624, + -441.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 22.018622683243308, + -442.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 19.420546471889992, + -444.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 16.822470260536676, + -445.6965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 14.22439404918336, + -447.1965648974304, + -0.08439191919939226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 14.22439404918336, + -447.1965648974304, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 12.72439404918336, + -449.7946411087837, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 11.22439404918336, + -452.392717320137, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 9.72439404918336, + -454.99079353149034, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 8.22439404918336, + -457.58886974284366, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 6.724394049183361, + -460.186945954197, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 5.224394049183362, + -462.7850221655503, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 3.7243940491833625, + -465.3830983769036, + -0.08439191919939226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 3.7243940491833625, + -465.3830983769036, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1.1263178378300465, + -466.8830983769036, + -0.08439191919939226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -1.4717583735232695, + -468.3830983769036, + -0.08439191919939226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-43-29_636600769/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-43-29_636600769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87768c4a4443f93f24a0fbfebe625332b44bb152 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-43-29_636600769/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 538.8880608629917, + 3.1485444057401395, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 541.8880608629917, + 3.1485444057401395, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 544.8880608629917, + 3.1485444057401395, + 0.2735565309159931 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 544.8880608629917, + 3.1485444057401395, + 0.2735565309159931 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 544.8880608629917, + 3.1485444057401395, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 546.3880608629917, + 5.7466206170934555, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 547.8880608629917, + 8.344696828446772, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 549.3880608629917, + 10.942773039800088, + 0.2735565309159931 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 549.3880608629917, + 10.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 551.9861370743449, + 12.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 554.5842132856983, + 13.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 557.1822894970517, + 15.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 559.780365708405, + 16.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 562.3784419197584, + 18.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 564.9765181311118, + 19.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 567.5745943424652, + 21.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 570.1726705538185, + 22.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 572.7707467651719, + 24.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 575.3688229765253, + 25.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 577.9668991878787, + 27.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 580.564975399232, + 28.942773039800088, + 0.2735565309159931 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 580.564975399232, + 28.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 583.564975399232, + 28.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 586.564975399232, + 28.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 589.564975399232, + 28.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 592.564975399232, + 28.942773039800088, + 0.2735565309159931 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 592.564975399232, + 28.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 595.1630516105854, + 27.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 597.7611278219388, + 25.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 600.3592040332921, + 24.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 602.9572802446455, + 22.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 605.5553564559989, + 21.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 608.1534326673523, + 19.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 610.7515088787056, + 18.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 613.349585090059, + 16.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 615.9476613014124, + 15.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 618.5457375127658, + 13.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 621.1438137241191, + 12.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 623.7418899354725, + 10.942773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 626.3399661468259, + 9.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 628.9380423581792, + 7.9427730398000875, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 631.5361185695326, + 6.4427730398000875, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 634.134194780886, + 4.9427730398000875, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 636.7322709922394, + 3.4427730398000875, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 639.3303472035927, + 1.9427730398000878, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 641.9284234149461, + 0.442773039800088, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 644.5264996262995, + -1.0572269601999118, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 647.1245758376529, + -2.5572269601999116, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 649.7226520490062, + -4.057226960199912, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 652.3207282603596, + -5.557226960199912, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 654.918804471713, + -7.057226960199912, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 657.5168806830663, + -8.55722696019991, + 0.2735565309159931 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 660.1149568944197, + -10.05722696019991, + 0.2735565309159931 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982892 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-46-28_1438865740/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-46-28_1438865740/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..486d78beab50971adf494a18d5bfc074fb0a9d67 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-46-28_1438865740/pose.jsonl @@ -0,0 +1,1159 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 420.2090480348496, + 309.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 417.6109718234963, + 307.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 415.012895612143, + 306.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 412.41481940078967, + 304.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 409.81674318943635, + 303.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 407.21866697808304, + 301.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 404.6205907667297, + 300.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 402.0225145553764, + 298.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 399.4244383440231, + 297.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 396.8263621326698, + 295.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 394.22828592131646, + 294.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 391.63020970996314, + 292.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 389.0321334986098, + 291.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 386.4340572872565, + 289.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 383.8359810759032, + 288.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 381.2379048645499, + 286.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 378.63982865319656, + 285.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 376.04175244184324, + 283.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 373.4436762304899, + 282.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 370.8456000191366, + 280.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 368.2475238077833, + 279.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 365.64944759643, + 277.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 363.05137138507666, + 276.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 360.45329517372335, + 274.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 357.85521896237003, + 273.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 355.2571427510167, + 271.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 352.6590665396634, + 270.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 350.0609903283101, + 268.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 347.46291411695677, + 267.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 344.86483790560345, + 265.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 342.26676169425014, + 264.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 339.6686854828968, + 262.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 337.0706092715435, + 261.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 334.4725330601902, + 259.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 331.87445684883687, + 258.331673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 329.27638063748356, + 256.831673651427, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 326.67830442613024, + 255.33167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 324.0802282147769, + 253.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 321.4821520034236, + 252.33167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 318.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 318.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 318.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 318.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 318.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 318.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 318.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 321.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 324.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 327.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 330.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 333.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 336.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 339.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 342.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 345.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 348.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 351.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 354.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 357.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 360.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 363.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 366.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 366.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 366.8840757920703, + 250.83167365142702, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 368.3840757920703, + 248.2335974400737, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 369.8840757920703, + 245.6355212287204, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 371.3840757920703, + 243.03744501736708, + 1.3914816164144366 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 371.3840757920703, + 243.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 373.9821520034236, + 241.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 376.5802282147769, + 240.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 379.17830442613024, + 238.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 381.77638063748356, + 237.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 384.37445684883687, + 235.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 386.9725330601902, + 234.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 389.5706092715435, + 232.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 392.1686854828968, + 231.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 394.76676169425014, + 229.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 397.36483790560345, + 228.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 399.96291411695677, + 226.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 402.5609903283101, + 225.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 405.1590665396634, + 223.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 407.7571427510167, + 222.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 410.35521896237003, + 220.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 412.95329517372335, + 219.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 415.55137138507666, + 217.53744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + 418.14944759643, + 216.03744501736708, + 1.3914816164144366 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + 420.7475238077833, + 214.53744501736708, + 1.3914816164144366 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-47-10_1776088411/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-47-10_1776088411/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b80679347d7976f20fbf8655a5feecf73366d2a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-47-10_1776088411/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 110.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 107.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 101.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 98.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 95.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 92.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 89.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 83.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 80.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 77.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 74.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 71.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 68.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 65.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 62.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 59.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 56.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 50.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 47.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 44.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 38.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 35.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 32.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 29.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 26.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 26.34536427091173, + -485.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 23.747288059558414, + -484.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 21.1492118482051, + -482.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 18.551135636851782, + -481.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 15.953059425498466, + -479.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 13.35498321414515, + -478.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 10.756907002791834, + -476.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 8.158830791438518, + -475.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 5.560754580085202, + -473.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2.9626783687318863, + -472.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 0.36460215737857027, + -470.88354129151367, + 1.3631834848081859 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 0.36460215737857027, + -470.88354129151367, + 1.3631834848081859 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 0.36460215737857027, + -470.88354129151367, + 1.3631834848081859 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 0.36460215737857027, + -470.88354129151367, + 1.3631834848081859 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 0.36460215737857027, + -470.88354129151367, + 1.3631834848081859 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 0.36460215737857027, + -470.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2.9626783687318863, + -469.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 5.560754580085202, + -467.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 8.158830791438518, + -466.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 10.756907002791834, + -464.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 13.35498321414515, + -463.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 15.953059425498466, + -461.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 18.551135636851782, + -460.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 21.1492118482051, + -458.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 23.747288059558414, + -457.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 26.34536427091173, + -455.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 28.943440482265046, + -454.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 31.541516693618362, + -452.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 34.13959290497168, + -451.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 36.737669116324994, + -449.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 39.33574532767831, + -448.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 41.93382153903163, + -446.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 44.53189775038494, + -445.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 47.12997396173826, + -443.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 49.728050173091574, + -442.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 52.32612638444489, + -440.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 54.92420259579821, + -439.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 57.52227880715152, + -437.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 60.12035501850484, + -436.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 62.718431229858155, + -434.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 65.31650744121147, + -433.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 67.91458365256479, + -431.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 70.5126598639181, + -430.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 73.11073607527142, + -428.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 75.70881228662473, + -427.38354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 78.30688849797805, + -425.88354129151367, + 1.3631834848081859 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 78.30688849797805, + -425.88354129151367, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 79.80688849797805, + -423.28546508016035, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 81.30688849797805, + -420.68738886880703, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 82.80688849797805, + -418.0893126574537, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 84.30688849797805, + -415.4912364461004, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 85.80688849797805, + -412.8931602347471, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 87.30688849797805, + -410.29508402339377, + 1.3631834848081859 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 88.80688849797805, + -407.69700781204045, + 1.3631834848081859 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-5-6_1244453596/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-5-6_1244453596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02f15303d5839e3281105f69f489545121d0fe4b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-5-6_1244453596/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1289.6323360404695, + -125.49839352277499, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1291.1323360404695, + -128.0964697341283, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1292.6323360404695, + -130.69454594548162, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1294.1323360404695, + -133.29262215683494, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1295.6323360404695, + -135.89069836818825, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1297.1323360404695, + -138.48877457954157, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1298.6323360404695, + -141.08685079089489, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1300.1323360404695, + -143.6849270022482, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1301.6323360404695, + -146.28300321360152, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1303.1323360404695, + -148.88107942495483, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1304.6323360404695, + -151.47915563630815, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1306.1323360404695, + -154.07723184766147, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1307.6323360404695, + -156.67530805901478, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1309.1323360404695, + -159.2733842703681, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1310.6323360404695, + -161.8714604817214, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1312.1323360404695, + -164.46953669307473, + 1.6756696540817337 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1312.1323360404695, + -164.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1314.7304122518228, + -165.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1317.3284884631762, + -167.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1319.9265646745296, + -168.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1322.524640885883, + -170.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1325.1227170972363, + -171.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1327.7207933085897, + -173.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1330.318869519943, + -174.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1332.9169457312964, + -176.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1335.5150219426498, + -177.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1338.1130981540032, + -179.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1340.7111743653566, + -180.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1343.30925057671, + -182.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1345.9073267880633, + -183.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1348.5054029994167, + -185.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1351.10347921077, + -186.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1353.7015554221234, + -188.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1356.2996316334768, + -189.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1358.8977078448302, + -191.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1361.4957840561835, + -192.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1364.093860267537, + -194.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1366.6919364788903, + -195.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1369.2900126902437, + -197.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1371.888088901597, + -198.96953669307473, + 1.6756696540817337 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1371.888088901597, + -198.96953669307473, + 1.6756696540817337 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1371.888088901597, + -198.96953669307473, + 1.6756696540817337 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1371.888088901597, + -198.96953669307473, + 1.6756696540817337 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1371.888088901597, + -198.96953669307473, + 1.6756696540817337 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1371.888088901597, + -198.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1369.2900126902437, + -200.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1366.6919364788903, + -201.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1364.093860267537, + -203.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1361.4957840561835, + -204.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1358.8977078448302, + -206.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1356.2996316334768, + -207.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1353.7015554221234, + -209.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1351.10347921077, + -210.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1348.5054029994167, + -212.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1345.9073267880633, + -213.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1343.30925057671, + -215.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1340.7111743653566, + -216.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1338.1130981540032, + -218.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1335.5150219426498, + -219.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1332.9169457312964, + -221.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1330.318869519943, + -222.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1327.7207933085897, + -224.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1325.1227170972363, + -225.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1322.524640885883, + -227.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1319.9265646745296, + -228.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1317.3284884631762, + -230.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1314.7304122518228, + -231.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1312.1323360404695, + -233.46953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1309.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1309.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1306.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1303.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1300.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1297.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1294.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1291.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1288.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1285.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1282.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1279.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1276.534259829116, + -234.96953669307473, + 1.6756696540817337 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-50-37_1925473439/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-50-37_1925473439/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb8d2ff59d5d3fe2025520674be8536a03940fb9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-50-37_1925473439/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 864.5453178577492, + -510.5737925108925, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 863.0453178577492, + -507.97571629953916, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 861.5453178577492, + -505.37764008818584, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 860.0453178577492, + -502.7795638768325, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 858.5453178577492, + -500.1814876654792, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 857.0453178577492, + -497.5834114541259, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 855.5453178577492, + -494.9853352427726, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 854.0453178577492, + -492.38725903141926, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 852.5453178577492, + -489.78918282006595, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 851.0453178577492, + -487.19110660871263, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 849.5453178577492, + -484.5930303973593, + 2.8216581041987183 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 849.5453178577492, + -484.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 849.5453178577492, + -481.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 849.5453178577492, + -478.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 849.5453178577492, + -475.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 849.5453178577492, + -472.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 849.5453178577492, + -469.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 849.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 849.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 849.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 849.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 849.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 846.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 843.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 840.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 837.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 834.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 831.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 828.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 825.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 822.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 819.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 816.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 813.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 810.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 807.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 804.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 801.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 798.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 795.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 792.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 792.5453178577492, + -466.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 789.9472416463959, + -465.0930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 787.3491654350426, + -463.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 784.7510892236892, + -462.0930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 782.1530130123358, + -460.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 779.5549368009824, + -459.0930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 776.9568605896291, + -457.5930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 774.3587843782757, + -456.0930303973593, + 2.8216581041987183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 771.7607081669223, + -454.5930303973593, + 2.8216581041987183 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-50-3_503458793/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-50-3_503458793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ed745e903470ff06308d16a451aaa1ccf4bc5da --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-50-3_503458793/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -120.98178385749901, + -78.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -123.57986006885233, + -79.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -126.17793628020564, + -81.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -128.77601249155896, + -82.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -131.37408870291227, + -84.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -133.9721649142656, + -85.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -136.5702411256189, + -87.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -139.16831733697222, + -88.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -141.76639354832554, + -90.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -144.36446975967885, + -91.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -146.96254597103217, + -93.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -149.5606221823855, + -94.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -152.1586983937388, + -96.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -154.75677460509212, + -97.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -157.35485081644543, + -99.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -159.95292702779875, + -100.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -162.55100323915207, + -102.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -165.14907945050538, + -103.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -167.7471556618587, + -105.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.34523187321201, + -106.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -172.94330808456533, + -108.38253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -175.54138429591865, + -109.88253338371412, + 0.4443769337269501 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -175.54138429591865, + -109.88253338371412, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.04138429591865, + -112.48060959506743, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -178.54138429591865, + -115.07868580642075, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -180.04138429591865, + -117.67676201777407, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -181.54138429591865, + -120.27483822912738, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -183.04138429591865, + -122.8729144404807, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -184.54138429591865, + -125.47099065183401, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -186.04138429591865, + -128.06906686318735, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393193 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -187.54138429591865, + -130.66714307454066, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -189.04138429591865, + -133.26521928589398, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -190.54138429591865, + -135.8632954972473, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -192.04138429591865, + -138.4613717086006, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -193.54138429591865, + -141.05944791995393, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -195.04138429591865, + -143.65752413130724, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -196.54138429591865, + -146.25560034266056, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -198.04138429591865, + -148.85367655401387, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -199.54138429591865, + -151.4517527653672, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -201.04138429591865, + -154.0498289767205, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -202.54138429591865, + -156.64790518807382, + 0.4443769337269501 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -202.54138429591865, + -156.64790518807382, + 0.4443769337269501 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -202.54138429591865, + -156.64790518807382, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -201.04138429591865, + -159.24598139942714, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -199.54138429591865, + -161.84405761078045, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -198.04138429591865, + -164.44213382213377, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -196.54138429591865, + -167.04021003348709, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -195.04138429591865, + -169.6382862448404, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -193.54138429591865, + -172.23636245619372, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -192.04138429591865, + -174.83443866754703, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -190.54138429591865, + -177.43251487890035, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -189.04138429591865, + -180.03059109025367, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -187.54138429591865, + -182.62866730160698, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -186.04138429591865, + -185.2267435129603, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -184.54138429591865, + -187.8248197243136, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -183.04138429591865, + -190.42289593566693, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -181.54138429591865, + -193.02097214702025, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -180.04138429591865, + -195.61904835837356, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -178.54138429591865, + -198.21712456972688, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -177.04138429591865, + -200.8152007810802, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -175.54138429591865, + -203.4132769924335, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -174.04138429591865, + -206.01135320378683, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -172.54138429591865, + -208.60942941514014, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -171.04138429591865, + -211.20750562649346, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -169.54138429591865, + -213.80558183784677, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -168.04138429591865, + -216.4036580492001, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -166.54138429591865, + -219.0017342605534, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -165.04138429591865, + -221.59981047190672, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -163.54138429591865, + -224.19788668326004, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -162.04138429591865, + -226.79596289461335, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -160.54138429591865, + -229.39403910596667, + 0.4443769337269501 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -160.54138429591865, + -229.39403910596667, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -157.94330808456533, + -230.89403910596667, + 0.4443769337269501 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -155.34523187321201, + -232.39403910596667, + 0.4443769337269501 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-53-2_2097657371/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-53-2_2097657371/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..904ccd93fbfd535cfefd306d65e5a8060e64d903 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-53-2_2097657371/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1351.792620054262, + -311.8420001655544, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1350.292620054262, + -309.2439239542011, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1348.792620054262, + -306.64584774284776, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1347.292620054262, + -304.04777153149445, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1345.792620054262, + -301.44969532014113, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1344.292620054262, + -298.8516191087878, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1342.792620054262, + -296.2535428974345, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1341.292620054262, + -293.6554666860812, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1339.792620054262, + -291.05739047472787, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1338.292620054262, + -288.45931426337455, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1336.792620054262, + -285.86123805202124, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1335.292620054262, + -283.2631618406679, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1333.792620054262, + -280.6650856293146, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1332.292620054262, + -278.0670094179613, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1330.792620054262, + -275.46893320660797, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1329.292620054262, + -272.87085699525466, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1327.792620054262, + -270.27278078390134, + 0.7282515295879763 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1327.792620054262, + -270.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1325.1945438429086, + -268.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1322.5964676315552, + -267.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1319.9983914202019, + -265.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1317.4003152088485, + -264.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1314.8022389974951, + -262.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1312.2041627861418, + -261.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1309.6060865747884, + -259.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1307.008010363435, + -258.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1304.4099341520816, + -256.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1301.8118579407283, + -255.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1299.213781729375, + -253.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1296.6157055180215, + -252.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1294.0176293066681, + -250.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1291.4195530953148, + -249.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1288.8214768839614, + -247.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1286.223400672608, + -246.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1283.6253244612546, + -244.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1281.0272482499013, + -243.27278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1278.429172038548, + -241.77278078390134, + 0.7282515295879763 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1278.429172038548, + -241.77278078390134, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1276.929172038548, + -239.17470457254802, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1275.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1275.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1275.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1275.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1275.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1275.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1278.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1281.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1284.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1287.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1290.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1293.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1296.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1299.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1299.429172038548, + -236.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1302.0272482499013, + -235.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1304.6253244612546, + -233.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1307.223400672608, + -232.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1309.8214768839614, + -230.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1312.4195530953148, + -229.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1315.0176293066681, + -227.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1317.6157055180215, + -226.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1320.213781729375, + -224.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1322.8118579407283, + -223.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1325.4099341520816, + -221.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1328.008010363435, + -220.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1330.6060865747884, + -218.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1333.2041627861418, + -217.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1335.8022389974951, + -215.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1338.4003152088485, + -214.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1340.9983914202019, + -212.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1343.5964676315552, + -211.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1346.1945438429086, + -209.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1348.792620054262, + -208.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1351.3906962656154, + -206.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1353.9887724769687, + -205.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1356.586848688322, + -203.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1359.1849248996755, + -202.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1361.7830011110289, + -200.5766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1364.3810773223822, + -199.0766283611947, + 0.7282515295879763 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1364.3810773223822, + -199.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1367.3810773223822, + -199.0766283611947, + 0.7282515295879763 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1370.3810773223822, + -199.0766283611947, + 0.7282515295879763 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-55-28_1594769883/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-55-28_1594769883/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95009c9983283ab425bb1a76938acd98bf164d9b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-55-28_1594769883/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -333.0178925164697, + 15.181296542193571, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -331.5178925164697, + 12.583220330840255, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -330.0178925164697, + 9.98514411948694, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -328.5178925164697, + 7.3870679081336235, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -327.0178925164697, + 4.7889916967803074, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -325.5178925164697, + 2.1909154854269914, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -324.0178925164697, + -0.4071607259263246, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -322.5178925164697, + -3.0052369372796406, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -321.0178925164697, + -5.603313148632957, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -319.5178925164697, + -8.201389359986273, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -318.0178925164697, + -10.799465571339589, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -316.5178925164697, + -13.397541782692905, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -315.0178925164697, + -15.99561799404622, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -313.5178925164697, + -18.593694205399537, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.0178925164697, + -21.191770416752853, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -310.5178925164697, + -23.78984662810617, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -309.0178925164697, + -26.387922839459485, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -307.5178925164697, + -28.9859990508128, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -306.0178925164697, + -31.584075262166117, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -304.5178925164697, + -34.18215147351943, + -2.0946210968482286 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -304.5178925164697, + -34.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -301.9198163051164, + -35.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -299.3217400937631, + -37.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -296.72366388240977, + -38.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -294.12558767105645, + -40.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -291.52751145970313, + -41.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -288.9294352483498, + -43.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -286.3313590369965, + -44.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -283.7332828256432, + -46.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -281.13520661428987, + -47.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -278.53713040293655, + -49.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -275.93905419158324, + -50.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -273.3409779802299, + -52.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -270.7429017688766, + -53.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -268.1448255575233, + -55.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -265.54674934617, + -56.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -262.94867313481666, + -58.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -260.35059692346334, + -59.68215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -257.75252071211, + -61.18215147351943, + -2.0946210968482286 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -257.75252071211, + -61.18215147351943, + -2.0946210968482286 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -257.75252071211, + -61.18215147351943, + -2.0946210968482286 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -257.75252071211, + -61.18215147351943, + -2.0946210968482286 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -257.75252071211, + -61.18215147351943, + -2.0946210968482286 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -257.75252071211, + -61.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -257.75252071211, + -58.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -257.75252071211, + -55.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -257.75252071211, + -52.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -257.75252071211, + -49.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -257.75252071211, + -46.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -257.75252071211, + -43.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -257.75252071211, + -40.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -257.75252071211, + -37.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -257.75252071211, + -34.18215147351943, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -257.75252071211, + -31.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -257.75252071211, + -28.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -257.75252071211, + -25.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -257.75252071211, + -22.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -257.75252071211, + -19.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -257.75252071211, + -16.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -257.75252071211, + -13.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -257.75252071211, + -10.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -257.75252071211, + -7.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -257.75252071211, + -4.182151473519433, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -257.75252071211, + -1.1821514735194327, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -257.75252071211, + 1.8178485264805673, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -257.75252071211, + 4.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -257.75252071211, + 7.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -257.75252071211, + 10.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -257.75252071211, + 13.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -257.75252071211, + 16.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -257.75252071211, + 19.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -257.75252071211, + 22.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -257.75252071211, + 25.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -257.75252071211, + 28.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -257.75252071211, + 31.817848526480567, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -257.75252071211, + 34.81784852648057, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -257.75252071211, + 37.81784852648057, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -257.75252071211, + 40.81784852648057, + -2.0946210968482286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -257.75252071211, + 43.81784852648057, + -2.0946210968482286 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-56-3_1817049764/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-56-3_1817049764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6bd6ce103a735a25489579279ed405bccc9d725 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-56-3_1817049764/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -235.81670310285884, + -184.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -233.21862689150552, + -186.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -230.6205506801522, + -187.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -228.0224744687989, + -189.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -225.42439825744557, + -190.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -222.82632204609226, + -192.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -220.22824583473894, + -193.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -217.63016962338563, + -195.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -215.0320934120323, + -196.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -212.434017200679, + -198.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -209.83594098932568, + -199.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -207.23786477797236, + -201.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -204.63978856661905, + -202.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -202.04171235526573, + -204.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -199.4436361439124, + -205.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -196.8455599325591, + -207.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -194.24748372120578, + -208.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -191.64940750985247, + -210.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -189.05133129849915, + -211.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -186.45325508714583, + -213.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -183.85517887579252, + -214.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -181.2571026644392, + -216.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -178.6590264530859, + -217.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -176.06095024173257, + -219.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -173.46287403037925, + -220.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -170.86479781902594, + -222.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -168.26672160767262, + -223.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -165.6686453963193, + -225.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -163.070569184966, + -226.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -160.47249297361267, + -228.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -157.87441676225936, + -229.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -155.27634055090604, + -231.41165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -152.67826433955273, + -232.91165337003898, + 4.97349759425299 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -152.67826433955273, + -232.91165337003898, + 4.97349759425299 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -152.67826433955273, + -232.91165337003898, + 4.97349759425299 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.67826433955273, + -232.91165337003898, + 4.97349759425299 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -152.67826433955273, + -232.91165337003898, + 4.97349759425299 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -152.67826433955273, + -232.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -152.67826433955273, + -229.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -152.67826433955273, + -226.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -152.67826433955273, + -223.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -152.67826433955273, + -220.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -152.67826433955273, + -217.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -152.67826433955273, + -214.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -152.67826433955273, + -211.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -152.67826433955273, + -208.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -152.67826433955273, + -205.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -152.67826433955273, + -202.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -152.67826433955273, + -199.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -152.67826433955273, + -196.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -152.67826433955273, + -193.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -152.67826433955273, + -190.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -152.67826433955273, + -187.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -152.67826433955273, + -184.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -152.67826433955273, + -181.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -152.67826433955273, + -178.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -152.67826433955273, + -175.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -152.67826433955273, + -172.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -152.67826433955273, + -169.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -152.67826433955273, + -166.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -152.67826433955273, + -163.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -152.67826433955273, + -160.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -152.67826433955273, + -157.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -152.67826433955273, + -154.91165337003898, + 4.97349759425299 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -152.67826433955273, + -154.91165337003898, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -151.17826433955273, + -152.31357715868566, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -149.67826433955273, + -149.71550094733234, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -148.17826433955273, + -147.11742473597903, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -146.67826433955273, + -144.5193485246257, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -145.17826433955273, + -141.9212723132724, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -143.67826433955273, + -139.32319610191908, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -142.17826433955273, + -136.72511989056576, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -140.67826433955273, + -134.12704367921245, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -139.17826433955273, + -131.52896746785913, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -137.67826433955273, + -128.93089125650582, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -136.17826433955273, + -126.3328150451525, + 4.97349759425299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -134.67826433955273, + -123.73473883379918, + 4.97349759425299 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-58-21_1089966067/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-58-21_1089966067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..978a2c0fc2696a60da91dfb3ef788b4bdc28b819 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-58-21_1089966067/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 150.23003760760992, + 173.46994893673138, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 148.73003760760992, + 170.87187272537807, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 147.23003760760992, + 168.27379651402475, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 145.73003760760992, + 165.67572030267144, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 144.23003760760992, + 163.07764409131812, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 142.73003760760992, + 160.4795678799648, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 141.23003760760992, + 157.8814916686115, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 139.73003760760992, + 155.28341545725817, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 138.23003760760992, + 152.68533924590486, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 136.73003760760992, + 150.08726303455154, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 135.23003760760992, + 147.48918682319822, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 133.73003760760992, + 144.8911106118449, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 132.23003760760992, + 142.2930344004916, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 130.73003760760992, + 139.69495818913828, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 129.23003760760992, + 137.09688197778496, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 127.73003760760992, + 134.49880576643164, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 126.23003760760992, + 131.90072955507833, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 124.73003760760992, + 129.302653343725, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 123.23003760760992, + 126.7045771323717, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 121.73003760760992, + 124.10650092101838, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 120.23003760760992, + 121.50842470966506, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 118.73003760760992, + 118.91034849831175, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 117.23003760760992, + 116.31227228695843, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 115.73003760760992, + 113.71419607560512, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 114.23003760760992, + 111.1161198642518, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 112.73003760760992, + 108.51804365289848, + -1.0397796520351 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 112.73003760760992, + 108.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 112.73003760760992, + 105.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 112.73003760760992, + 102.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 112.73003760760992, + 99.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 112.73003760760992, + 96.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 112.73003760760992, + 93.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 112.73003760760992, + 90.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 112.73003760760992, + 87.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 112.73003760760992, + 84.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 112.73003760760992, + 81.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 112.73003760760992, + 78.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 112.73003760760992, + 75.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 112.73003760760992, + 72.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 112.73003760760992, + 69.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 112.73003760760992, + 66.51804365289848, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 112.73003760760992, + 63.518043652898484, + -1.0397796520351 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 112.73003760760992, + 63.518043652898484, + -1.0397796520351 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 112.73003760760992, + 63.518043652898484, + -1.0397796520351 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 112.73003760760992, + 63.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 110.1319613962566, + 62.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 107.53388518490328, + 60.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 104.93580897354997, + 59.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 102.33773276219665, + 57.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 99.73965655084334, + 56.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 97.14158033949002, + 54.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 94.5435041281367, + 53.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 91.94542791678339, + 51.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 89.34735170543007, + 50.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 86.74927549407676, + 48.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 84.15119928272344, + 47.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 81.55312307137012, + 45.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 78.95504686001681, + 44.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 76.35697064866349, + 42.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 73.75889443731018, + 41.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 71.16081822595686, + 39.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 68.56274201460354, + 38.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 65.96466580325023, + 36.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 63.36658959189691, + 35.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 60.768513380543595, + 33.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 58.17043716919028, + 32.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 55.57236095783696, + 30.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 52.97428474648365, + 29.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 50.37620853513033, + 27.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 47.778132323777015, + 26.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 45.1800561124237, + 24.518043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 42.58197990107038, + 23.018043652898484, + -1.0397796520351 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 42.58197990107038, + 23.018043652898484, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 41.08197990107038, + 20.419967441545168, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 39.58197990107038, + 17.821891230191852, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 38.08197990107038, + 15.223815018838536, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 36.58197990107038, + 12.62573880748522, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 35.08197990107038, + 10.027662596131904, + -1.0397796520351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 33.58197990107038, + 7.429586384778588, + -1.0397796520351 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-6-56_1456748696/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-6-56_1456748696/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a8757aa597ff65407009c3cf47638f695529193 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-6-56_1456748696/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -348.82427240427694, + -110.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -345.82427240427694, + -110.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -342.82427240427694, + -110.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -339.82427240427694, + -110.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -336.82427240427694, + -110.740907345382, + 0.2537425953538994 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -336.82427240427694, + -110.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -334.2261961929236, + -109.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -331.6281199815703, + -107.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -329.030043770217, + -106.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -326.4319675588637, + -104.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -323.83389134751036, + -103.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -321.23581513615704, + -101.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -318.6377389248037, + -100.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -316.0396627134504, + -98.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -313.4415865020971, + -97.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -310.8435102907438, + -95.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -308.24543407939046, + -94.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -305.64735786803715, + -92.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -303.04928165668383, + -91.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -300.4512054453305, + -89.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -297.8531292339772, + -88.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -295.2550530226239, + -86.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -292.65697681127057, + -85.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -290.05890059991725, + -83.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -287.46082438856394, + -82.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -284.8627481772106, + -80.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -282.2646719658573, + -79.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -279.666595754504, + -77.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -277.06851954315067, + -76.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -274.47044333179736, + -74.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -271.87236712044404, + -73.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -269.2742909090907, + -71.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -266.6762146977374, + -70.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -264.0781384863841, + -68.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -261.4800622750308, + -67.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -258.88198606367746, + -65.740907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -256.28390985232414, + -64.240907345382, + 0.2537425953538994 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.28390985232414, + -64.240907345382, + 0.2537425953538994 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -256.28390985232414, + -64.240907345382, + 0.2537425953538994 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -256.28390985232414, + -64.240907345382, + 0.2537425953538994 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -256.28390985232414, + -64.240907345382, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -254.78390985232414, + -66.83898355673531, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -253.28390985232414, + -69.43705976808863, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -251.78390985232414, + -72.03513597944195, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -250.28390985232414, + -74.63321219079526, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -248.78390985232414, + -77.23128840214858, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -247.28390985232414, + -79.8293646135019, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -245.78390985232414, + -82.42744082485521, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -244.28390985232414, + -85.02551703620853, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -242.78390985232414, + -87.62359324756184, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -241.28390985232414, + -90.22166945891516, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -239.78390985232414, + -92.81974567026847, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -238.28390985232414, + -95.41782188162179, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -236.78390985232414, + -98.0158980929751, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -235.28390985232414, + -100.61397430432842, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -233.78390985232414, + -103.21205051568174, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -232.28390985232414, + -105.81012672703505, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -230.78390985232414, + -108.40820293838837, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -229.28390985232414, + -111.00627914974169, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -227.78390985232414, + -113.604355361095, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -226.28390985232414, + -116.20243157244832, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -224.78390985232414, + -118.80050778380163, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -223.28390985232414, + -121.39858399515495, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -221.78390985232414, + -123.99666020650827, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -220.28390985232414, + -126.59473641786158, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -218.78390985232414, + -129.1928126292149, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -217.28390985232414, + -131.79088884056821, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -215.78390985232414, + -134.38896505192153, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -214.28390985232414, + -136.98704126327485, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -212.78390985232414, + -139.58511747462816, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -211.28390985232414, + -142.18319368598148, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -209.78390985232414, + -144.7812698973348, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -208.28390985232414, + -147.3793461086881, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -206.78390985232414, + -149.97742232004143, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -205.28390985232414, + -152.57549853139474, + 0.2537425953538994 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -203.78390985232414, + -155.17357474274806, + 0.2537425953538994 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-9-41_1468519716/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-9-41_1468519716/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33b3cf4ee8c4f27f376c4326e673b7b467ea31a2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_13-9-41_1468519716/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1605.6507420312603, + -187.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1603.052665819907, + -186.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1600.4545896085535, + -184.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1597.8565133972002, + -183.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1595.2584371858468, + -181.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1592.6603609744934, + -180.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1590.06228476314, + -178.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1587.4642085517867, + -177.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1584.8661323404333, + -175.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1582.26805612908, + -174.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1579.6699799177266, + -172.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1577.0719037063732, + -171.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1574.4738274950198, + -169.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1571.8757512836664, + -168.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1569.277675072313, + -166.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1566.6795988609597, + -165.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1564.0815226496063, + -163.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1561.483446438253, + -162.05048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1558.8853702268996, + -160.55048584832673, + -3.8144687403519875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1558.8853702268996, + -160.55048584832673, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1557.3853702268996, + -157.9524096369734, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1555.8853702268996, + -155.3543334256201, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1554.3853702268996, + -152.75625721426678, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1552.8853702268996, + -150.15818100291347, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1551.3853702268996, + -147.56010479156015, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1549.8853702268996, + -144.96202858020683, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1548.3853702268996, + -142.36395236885352, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1546.8853702268996, + -139.7658761575002, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1545.3853702268996, + -137.16779994614689, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1543.8853702268996, + -134.56972373479357, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1542.3853702268996, + -131.97164752344025, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1540.8853702268996, + -129.37357131208694, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1539.3853702268996, + -126.77549510073362, + -3.8144687403519875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1539.3853702268996, + -126.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1539.3853702268996, + -123.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1539.3853702268996, + -120.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1539.3853702268996, + -117.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1539.3853702268996, + -114.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1539.3853702268996, + -111.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1539.3853702268996, + -108.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1539.3853702268996, + -105.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1539.3853702268996, + -102.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1539.3853702268996, + -99.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1539.3853702268996, + -96.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1539.3853702268996, + -93.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1539.3853702268996, + -90.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1539.3853702268996, + -87.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1539.3853702268996, + -84.77549510073362, + -3.8144687403519875 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1539.3853702268996, + -84.77549510073362, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1537.8853702268996, + -82.1774188893803, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1536.3853702268996, + -79.57934267802699, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1534.8853702268996, + -76.98126646667367, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1533.3853702268996, + -74.38319025532036, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1531.8853702268996, + -71.78511404396704, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1530.3853702268996, + -69.18703783261373, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1528.8853702268996, + -66.58896162126041, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1527.3853702268996, + -63.990885409907094, + -3.8144687403519875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1525.8853702268996, + -61.39280919855378, + -3.8144687403519875 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-0-0_763447433/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-0-0_763447433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1334bedde4ee1922406c82753377b02fc5f3f625 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-0-0_763447433/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 398.94398858523743, + -10.52759445103618, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 397.44398858523743, + -13.125670662389496, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 395.94398858523743, + -15.723746873742812, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.44398858523743, + -18.321823085096128, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 392.94398858523743, + -20.919899296449444, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 391.44398858523743, + -23.51797550780276, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 389.94398858523743, + -26.116051719156076, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 388.44398858523743, + -28.71412793050939, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 386.94398858523743, + -31.312204141862708, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 385.44398858523743, + -33.910280353216024, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.94398858523743, + -36.50835656456934, + -4.093799647652027 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 383.94398858523743, + -36.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 383.94398858523743, + -39.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 383.94398858523743, + -42.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 383.94398858523743, + -45.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 383.94398858523743, + -48.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 383.94398858523743, + -51.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 383.94398858523743, + -54.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 383.94398858523743, + -57.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 383.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 383.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 383.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 383.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 383.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 380.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 377.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 374.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 371.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 368.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 365.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 362.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 359.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 356.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 353.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 350.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 347.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 344.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 341.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 338.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 335.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 332.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 329.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 326.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 323.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 323.94398858523743, + -60.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 321.3459123738841, + -62.00835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 318.7478361625308, + -63.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 316.1497599511775, + -65.00835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 313.55168373982417, + -66.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 310.95360752847085, + -68.00835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 308.35553131711754, + -69.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 305.7574551057642, + -71.00835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 303.1593788944109, + -72.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 300.5613026830576, + -74.00835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 297.9632264717043, + -75.50835656456934, + -4.093799647652027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 295.36515026035096, + -77.00835656456934, + -4.093799647652027 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-0-31_2108785490/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-0-31_2108785490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..228ab775eda76f8148e68bf46a304454280635e4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-0-31_2108785490/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1640.2475332392441, + -131.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1637.6494570278908, + -130.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1635.0513808165374, + -128.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1632.453304605184, + -127.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1629.8552283938307, + -125.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1627.2571521824773, + -124.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1624.659075971124, + -122.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1622.0609997597705, + -121.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1619.4629235484172, + -119.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1616.8648473370638, + -118.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1614.2667711257104, + -116.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1611.668694914357, + -115.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1609.0706187030037, + -113.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1606.4725424916503, + -112.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1603.874466280297, + -110.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1601.2763900689436, + -109.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1598.6783138575902, + -107.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1596.0802376462368, + -106.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1593.4821614348834, + -104.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1590.88408522353, + -103.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1588.2860090121767, + -101.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1585.6879328008233, + -100.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1583.08985658947, + -98.50207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1580.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1580.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1577.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1574.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1571.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1568.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1565.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1562.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1562.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1562.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1562.4917803781166, + -97.00207236345983, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1560.9917803781166, + -94.40399615210652, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1559.4917803781166, + -91.8059199407532, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1557.9917803781166, + -89.20784372939988, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1556.4917803781166, + -86.60976751804657, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1554.9917803781166, + -84.01169130669325, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1553.4917803781166, + -81.41361509533994, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1551.9917803781166, + -78.81553888398662, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1550.4917803781166, + -76.2174626726333, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1548.9917803781166, + -73.61938646127999, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1547.4917803781166, + -71.02131024992667, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1545.9917803781166, + -68.42323403857336, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1544.4917803781166, + -65.82515782722004, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1542.9917803781166, + -63.22708161586672, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1541.4917803781166, + -60.62900540451341, + 3.900230263563664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1539.9917803781166, + -58.03092919316009, + 3.900230263563664 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-1-27_566112132/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-1-27_566112132/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d734fc9d51d578cf18af1e9d156ce9cdad5abe52 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-1-27_566112132/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1603.4941373373215, + -159.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1600.8960611259681, + -158.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1598.2979849146147, + -156.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1595.6999087032614, + -155.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1593.101832491908, + -153.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1590.5037562805546, + -152.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1587.9056800692013, + -150.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1585.3076038578479, + -149.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1582.7095276464945, + -147.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1580.1114514351411, + -146.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1577.5133752237878, + -144.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1574.9152990124344, + -143.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1572.317222801081, + -141.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1569.7191465897276, + -140.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1567.1210703783743, + -138.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1564.522994167021, + -137.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1561.9249179556675, + -135.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1559.3268417443142, + -134.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1556.7287655329608, + -132.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1554.1306893216074, + -131.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1551.532613110254, + -129.7265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1548.9345368989007, + -128.2265479649955, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1546.3364606875473, + -126.72654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1543.738384476194, + -125.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1541.1403082648405, + -123.72654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1538.5422320534872, + -122.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1535.9441558421338, + -120.72654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1533.3460796307804, + -119.22654796499549, + 0.7403941685324078 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1533.3460796307804, + -119.22654796499549, + 0.7403941685324078 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1533.3460796307804, + -119.22654796499549, + 0.7403941685324078 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1533.3460796307804, + -119.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1533.3460796307804, + -116.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1533.3460796307804, + -113.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1533.3460796307804, + -110.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1533.3460796307804, + -107.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1533.3460796307804, + -104.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1533.3460796307804, + -101.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1533.3460796307804, + -98.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1533.3460796307804, + -95.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1533.3460796307804, + -92.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1533.3460796307804, + -89.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1533.3460796307804, + -86.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1533.3460796307804, + -83.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1533.3460796307804, + -80.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1533.3460796307804, + -77.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1533.3460796307804, + -74.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1533.3460796307804, + -71.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1533.3460796307804, + -68.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1533.3460796307804, + -65.22654796499549, + 0.7403941685324078 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1533.3460796307804, + -65.22654796499549, + 0.7403941685324078 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1533.3460796307804, + -65.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1530.748003419427, + -63.72654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1528.1499272080737, + -62.22654796499549, + 0.7403941685324078 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1525.5518509967203, + -60.72654796499549, + 0.7403941685324078 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-10-51_1262486766/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-10-51_1262486766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..715380c4095b17255b8cd40e028ef9eb39a275ac --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-10-51_1262486766/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -280.61597050740426, + -23.474513634147343, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -282.11597050740426, + -26.07258984550066, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -283.61597050740426, + -28.670666056853975, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -285.11597050740426, + -31.26874226820729, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -286.61597050740426, + -33.86681847956061, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -288.11597050740426, + -36.46489469091392, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -289.61597050740426, + -39.06297090226724, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.11597050740426, + -41.661047113620555, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -292.61597050740426, + -44.25912332497387, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -294.11597050740426, + -46.85719953632719, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -295.61597050740426, + -49.4552757476805, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -297.11597050740426, + -52.05335195903382, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -298.61597050740426, + -54.651428170387135, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -300.11597050740426, + -57.24950438174045, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -301.61597050740426, + -59.84758059309377, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -303.11597050740426, + -62.44565680444708, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -304.61597050740426, + -65.0437330158004, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -306.11597050740426, + -67.64180922715371, + -1.2872111405729632 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -306.11597050740426, + -67.64180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -308.7140467187576, + -69.14180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -311.3121229301109, + -70.64180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -313.9101991414642, + -72.14180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -316.5082753528175, + -73.64180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -319.10635156417084, + -75.14180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -321.70442777552415, + -76.64180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -324.30250398687747, + -78.14180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -326.9005801982308, + -79.64180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -329.4986564095841, + -81.14180922715371, + -1.2872111405729632 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -329.4986564095841, + -81.14180922715371, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -330.9986564095841, + -83.73988543850703, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -332.4986564095841, + -86.33796164986035, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -333.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -333.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -333.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -333.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -333.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -333.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -330.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -327.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -324.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -321.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -318.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -315.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -312.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -309.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -306.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -303.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -300.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -297.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -297.9986564095841, + -88.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -295.4005801982308, + -87.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -292.80250398687747, + -85.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -290.20442777552415, + -84.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -287.60635156417084, + -82.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -285.0082753528175, + -81.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -282.4101991414642, + -79.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -279.8121229301109, + -78.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -277.2140467187576, + -76.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -274.61597050740426, + -75.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -272.01789429605094, + -73.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -269.4198180846976, + -72.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -266.8217418733443, + -70.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -264.223665661991, + -69.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -261.6255894506377, + -67.93603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -259.02751323928436, + -66.43603786121366, + -1.2872111405729632 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -256.42943702793104, + -64.93603786121366, + -1.2872111405729632 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-12-22_75191653/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-12-22_75191653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14364deba865799ad8e4e251d953a20e987a08ae --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-12-22_75191653/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 217.1189889756323, + 218.3944736091367, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 218.6189889756323, + 215.79639739778338, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 220.1189889756323, + 213.19832118643006, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 221.6189889756323, + 210.60024497507675, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 223.1189889756323, + 208.00216876372343, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 224.6189889756323, + 205.40409255237012, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 226.1189889756323, + 202.8060163410168, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 227.6189889756323, + 200.20794012966348, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 229.1189889756323, + 197.60986391831017, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 230.6189889756323, + 195.01178770695685, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 232.1189889756323, + 192.41371149560354, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 233.6189889756323, + 189.81563528425022, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 235.1189889756323, + 187.2175590728969, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 236.6189889756323, + 184.6194828615436, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 238.1189889756323, + 182.02140665019027, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 239.6189889756323, + 179.42333043883696, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 241.1189889756323, + 176.82525422748364, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 242.6189889756323, + 174.22717801613032, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 244.1189889756323, + 171.629101804777, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 245.6189889756323, + 169.0310255934237, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 247.1189889756323, + 166.43294938207038, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 248.6189889756323, + 163.83487317071706, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 250.1189889756323, + 161.23679695936374, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 251.6189889756323, + 158.63872074801043, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 253.1189889756323, + 156.0406445366571, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 254.6189889756323, + 153.4425683253038, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 256.1189889756323, + 150.84449211395048, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 257.6189889756323, + 148.24641590259716, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 259.1189889756323, + 145.64833969124385, + 3.9009722858120472 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 259.1189889756323, + 145.64833969124385, + 3.9009722858120472 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 259.1189889756323, + 145.64833969124385, + 3.9009722858120472 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 259.1189889756323, + 145.64833969124385, + 3.9009722858120472 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 259.1189889756323, + 145.64833969124385, + 3.9009722858120472 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 259.1189889756323, + 145.64833969124385, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 260.6189889756323, + 148.24641590259716, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 262.1189889756323, + 150.84449211395048, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 263.6189889756323, + 153.4425683253038, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 265.1189889756323, + 156.0406445366571, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 266.6189889756323, + 158.63872074801043, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 268.1189889756323, + 161.23679695936374, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 269.6189889756323, + 163.83487317071706, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 271.1189889756323, + 166.43294938207038, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 272.6189889756323, + 169.0310255934237, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 274.1189889756323, + 171.629101804777, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 275.6189889756323, + 174.22717801613032, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 277.1189889756323, + 176.82525422748364, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 278.6189889756323, + 179.42333043883696, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 280.1189889756323, + 182.02140665019027, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 281.6189889756323, + 184.6194828615436, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 283.1189889756323, + 187.2175590728969, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 284.6189889756323, + 189.81563528425022, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 286.1189889756323, + 192.41371149560354, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 287.6189889756323, + 195.01178770695685, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 289.1189889756323, + 197.60986391831017, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 290.6189889756323, + 200.20794012966348, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 292.1189889756323, + 202.8060163410168, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 293.6189889756323, + 205.40409255237012, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 295.1189889756323, + 208.00216876372343, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 296.6189889756323, + 210.60024497507675, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 298.1189889756323, + 213.19832118643006, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 299.6189889756323, + 215.79639739778338, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 301.1189889756323, + 218.3944736091367, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 302.6189889756323, + 220.99254982049, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 304.1189889756323, + 223.59062603184333, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 305.6189889756323, + 226.18870224319664, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 307.1189889756323, + 228.78677845454996, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 308.6189889756323, + 231.38485466590328, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 310.1189889756323, + 233.9829308772566, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 311.6189889756323, + 236.5810070886099, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 313.1189889756323, + 239.17908329996322, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 314.6189889756323, + 241.77715951131654, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 316.1189889756323, + 244.37523572266986, + 3.9009722858120472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 317.6189889756323, + 246.97331193402317, + 3.9009722858120472 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-14-11_284665220/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-14-11_284665220/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34dda450f2434d31d1e11b5bf588b10e7809d1c1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-14-11_284665220/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -15.438601880611415, + 99.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -12.8405256692581, + 100.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -10.242449457904783, + 102.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -7.644373246551467, + 103.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -5.046297035198151, + 105.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2.448220823844835, + 106.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 0.14985538750848093, + 108.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2.747931598861797, + 109.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 5.346007810215113, + 111.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 7.944084021568429, + 112.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.542160232921745, + 114.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 13.140236444275061, + 115.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 15.738312655628377, + 117.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 18.336388866981693, + 118.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 20.93446507833501, + 120.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.532541289688325, + 121.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 26.13061750104164, + 123.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.728693712394957, + 124.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 31.326769923748273, + 126.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 33.92484613510159, + 127.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 36.522922346454905, + 129.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 39.12099855780822, + 130.69454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 41.71907476916154, + 132.19454733165736, + 4.3751377388165515 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.71907476916154, + 132.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 43.21907476916154, + 134.79262354301068, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.71907476916154, + 137.390699754364, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 46.21907476916154, + 139.9887759657173, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.71907476916154, + 142.58685217707063, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 49.21907476916154, + 145.18492838842394, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 50.71907476916154, + 147.78300459977726, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 52.21907476916154, + 150.38108081113057, + 4.3751377388165515 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 52.21907476916154, + 150.38108081113057, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 54.81715098051485, + 151.88108081113057, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 57.41522719186817, + 153.38108081113057, + 4.3751377388165515 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 57.41522719186817, + 153.38108081113057, + 4.3751377388165515 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 57.41522719186817, + 153.38108081113057, + 4.3751377388165515 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 57.41522719186817, + 153.38108081113057, + 4.3751377388165515 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 57.41522719186817, + 153.38108081113057, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 58.91522719186817, + 150.78300459977726, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 60.41522719186817, + 148.18492838842394, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 61.91522719186817, + 145.58685217707063, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 63.41522719186817, + 142.9887759657173, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 64.91522719186817, + 140.390699754364, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 66.41522719186817, + 137.79262354301068, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 67.91522719186817, + 135.19454733165736, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 69.41522719186817, + 132.59647112030405, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 70.91522719186817, + 129.99839490895073, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 72.41522719186817, + 127.40031869759741, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 73.91522719186817, + 124.8022424862441, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 75.41522719186817, + 122.20416627489078, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 76.91522719186817, + 119.60609006353747, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 78.41522719186817, + 117.00801385218415, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 79.91522719186817, + 114.40993764083083, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 81.41522719186817, + 111.81186142947752, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 82.91522719186817, + 109.2137852181242, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 84.41522719186817, + 106.61570900677089, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 85.91522719186817, + 104.01763279541757, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 87.41522719186817, + 101.41955658406425, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 88.91522719186817, + 98.82148037271094, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 90.41522719186817, + 96.22340416135762, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 91.91522719186817, + 93.6253279500043, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 93.41522719186817, + 91.02725173865099, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 94.91522719186817, + 88.42917552729767, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 96.41522719186817, + 85.83109931594436, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 97.91522719186817, + 83.23302310459104, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 99.41522719186817, + 80.63494689323772, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 100.91522719186817, + 78.03687068188441, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 102.41522719186817, + 75.43879447053109, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 103.91522719186817, + 72.84071825917778, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 105.41522719186817, + 70.24264204782446, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 106.91522719186817, + 67.64456583647114, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 108.41522719186817, + 65.04648962511783, + 4.3751377388165515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 109.91522719186817, + 62.44841341376451, + 4.3751377388165515 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-14-48_1998562957/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-14-48_1998562957/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8e967ccfd168e17fd6e7dfa1a3933052f76bfa0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-14-48_1998562957/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -131.32097959908893, + -664.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -128.7229033877356, + -663.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -126.1248271763823, + -661.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -123.52675096502898, + -660.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.92867475367566, + -658.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -118.33059854232235, + -657.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -115.73252233096903, + -655.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -113.13444611961572, + -654.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -110.5363699082624, + -652.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -107.93829369690908, + -651.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -105.34021748555577, + -649.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -102.74214127420245, + -648.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -100.14406506284914, + -646.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -97.54598885149582, + -645.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -94.9479126401425, + -643.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -92.34983642878919, + -642.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -89.75176021743587, + -640.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -87.15368400608256, + -639.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -84.55560779472924, + -637.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -81.95753158337592, + -636.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -79.35945537202261, + -634.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -76.76137916066929, + -633.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -74.16330294931598, + -631.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -71.56522673796266, + -630.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -68.96715052660934, + -628.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -66.36907431525603, + -627.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -63.77099810390271, + -625.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -61.1729218925494, + -624.4678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -58.57484568119608, + -622.9678699953803, + -0.09427079925489767 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -58.57484568119608, + -622.9678699953803, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -57.07484568119608, + -620.369793784027, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -55.57484568119608, + -617.7717175726737, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -54.07484568119608, + -615.1736413613203, + -0.09427079925489767 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -54.07484568119608, + -615.1736413613203, + -0.09427079925489767 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.07484568119608, + -615.1736413613203, + -0.09427079925489767 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -54.07484568119608, + -615.1736413613203, + -0.09427079925489767 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.07484568119608, + -615.1736413613203, + -0.09427079925489767 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -54.07484568119608, + -615.1736413613203, + -0.09427079925489767 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948868 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -54.07484568119608, + -615.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -54.07484568119608, + -618.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -54.07484568119608, + -621.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -54.07484568119608, + -624.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -54.07484568119608, + -627.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -54.07484568119608, + -630.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -54.07484568119608, + -633.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -54.07484568119608, + -636.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -54.07484568119608, + -639.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -54.07484568119608, + -642.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -54.07484568119608, + -645.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -54.07484568119608, + -648.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -54.07484568119608, + -651.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -54.07484568119608, + -654.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -54.07484568119608, + -657.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -54.07484568119608, + -660.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -54.07484568119608, + -663.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -54.07484568119608, + -666.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -54.07484568119608, + -669.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -54.07484568119608, + -672.1736413613203, + -0.09427079925489767 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -54.07484568119608, + -672.1736413613203, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -52.57484568119608, + -674.7717175726737, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -51.07484568119608, + -677.369793784027, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -49.57484568119608, + -679.9678699953804, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -48.07484568119608, + -682.5659462067338, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -46.57484568119608, + -685.1640224180871, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -45.07484568119608, + -687.7620986294405, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -43.57484568119608, + -690.3601748407939, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -42.07484568119608, + -692.9582510521473, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -40.57484568119608, + -695.5563272635006, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -39.07484568119608, + -698.154403474854, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -37.57484568119608, + -700.7524796862074, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -36.07484568119608, + -703.3505558975608, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -34.57484568119608, + -705.9486321089141, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -33.07484568119608, + -708.5467083202675, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -31.57484568119608, + -711.1447845316209, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -30.07484568119608, + -713.7428607429742, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -28.57484568119608, + -716.3409369543276, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -27.07484568119608, + -718.939013165681, + -0.09427079925489767 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -25.57484568119608, + -721.5370893770344, + -0.09427079925489767 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-19-35_556707205/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-19-35_556707205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4133688776573b736ffb65817c8167a8f4fd5722 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-19-35_556707205/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -238.7842029283604, + -68.4266090793531, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -237.2842029283604, + -71.02468529070642, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -235.7842029283604, + -73.62276150205973, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -234.2842029283604, + -76.22083771341305, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -232.7842029283604, + -78.81891392476636, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -231.2842029283604, + -81.41699013611968, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -229.7842029283604, + -84.015066347473, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -228.2842029283604, + -86.61314255882631, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -226.7842029283604, + -89.21121877017963, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -225.2842029283604, + -91.80929498153294, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -223.7842029283604, + -94.40737119288626, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -222.2842029283604, + -97.00544740423958, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -220.7842029283604, + -99.60352361559289, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -219.2842029283604, + -102.20159982694621, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -217.7842029283604, + -104.79967603829952, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -216.2842029283604, + -107.39775224965284, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -214.7842029283604, + -109.99582846100616, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -213.2842029283604, + -112.59390467235947, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -211.7842029283604, + -115.19198088371279, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -210.2842029283604, + -117.7900570950661, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -208.7842029283604, + -120.38813330641942, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -207.2842029283604, + -122.98620951777274, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -205.7842029283604, + -125.58428572912605, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -204.2842029283604, + -128.18236194047938, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -202.7842029283604, + -130.7804381518327, + 4.068683569168758 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -202.7842029283604, + -130.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -202.7842029283604, + -133.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -202.7842029283604, + -136.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -202.7842029283604, + -139.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -202.7842029283604, + -142.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -202.7842029283604, + -145.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -202.7842029283604, + -148.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -202.7842029283604, + -151.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -202.7842029283604, + -154.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -202.7842029283604, + -157.7804381518327, + 4.068683569168758 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -202.7842029283604, + -157.7804381518327, + 4.068683569168758 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -202.7842029283604, + -157.7804381518327, + 4.068683569168758 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -202.7842029283604, + -157.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -205.38227913971372, + -159.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -207.98035535106703, + -160.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -210.57843156242035, + -162.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -213.17650777377366, + -163.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -215.77458398512698, + -165.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -218.3726601964803, + -166.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -220.9707364078336, + -168.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -223.56881261918693, + -169.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -226.16688883054024, + -171.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -228.76496504189356, + -172.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -231.36304125324688, + -174.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -233.9611174646002, + -175.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -236.5591936759535, + -177.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -239.15726988730682, + -178.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -241.75534609866014, + -180.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -244.35342231001346, + -181.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -246.95149852136677, + -183.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -249.5495747327201, + -184.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -252.1476509440734, + -186.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -254.74572715542672, + -187.7804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -257.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -257.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -260.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -263.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -266.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -269.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -272.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -275.34380336678004, + -189.2804381518327, + 4.068683569168758 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-2-30_437180529/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-2-30_437180529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7fbaa3c8f666480b3fac7d77edd7eab93df2fd2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-2-30_437180529/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -170.25406579809544, + -632.2370839971647, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -168.75406579809544, + -634.8351602085181, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -167.25406579809544, + -637.4332364198715, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -165.75406579809544, + -640.0313126312249, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -164.25406579809544, + -642.6293888425782, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -162.75406579809544, + -645.2274650539316, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -161.25406579809544, + -647.825541265285, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -159.75406579809544, + -650.4236174766384, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -158.25406579809544, + -653.0216936879917, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -156.75406579809544, + -655.6197698993451, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -155.25406579809544, + -658.2178461106985, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -153.75406579809544, + -660.8159223220518, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -152.25406579809544, + -663.4139985334052, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -150.75406579809544, + -666.0120747447586, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -149.25406579809544, + -668.610150956112, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -147.75406579809544, + -671.2082271674653, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -146.25406579809544, + -673.8063033788187, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -144.75406579809544, + -676.4043795901721, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -143.25406579809544, + -679.0024558015255, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -141.75406579809544, + -681.6005320128788, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -140.25406579809544, + -684.1986082242322, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -138.75406579809544, + -686.7966844355856, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -137.25406579809544, + -689.394760646939, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -135.75406579809544, + -691.9928368582923, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.25406579809544, + -694.5909130696457, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -132.75406579809544, + -697.1889892809991, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -131.25406579809544, + -699.7870654923524, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -129.75406579809544, + -702.3851417037058, + 0.9398528454656212 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -129.75406579809544, + -702.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -129.75406579809544, + -705.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -129.75406579809544, + -708.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -129.75406579809544, + -711.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -129.75406579809544, + -714.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -129.75406579809544, + -717.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -129.75406579809544, + -720.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -129.75406579809544, + -723.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.75406579809544, + -726.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -129.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -129.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -129.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -129.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -126.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -123.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -120.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -117.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -114.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -111.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -108.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -105.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -102.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -99.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -96.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -93.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -90.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -87.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -84.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -81.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -78.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -75.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -72.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -69.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -66.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -63.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -60.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -57.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -54.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -51.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -48.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -45.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -42.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -39.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -39.75406579809544, + -729.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -37.15598958674212, + -727.8851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -34.55791337538881, + -726.3851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -31.95983716403549, + -724.8851417037058, + 0.9398528454656212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -29.361760952682175, + -723.3851417037058, + 0.9398528454656212 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-22-36_258219170/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-22-36_258219170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adf4295fdfbf152c64318f139eda8db83d9b5573 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-22-36_258219170/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 847.3390838410045, + -522.7416494010533, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 847.3390838410045, + -519.7416494010533, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 847.3390838410045, + -516.7416494010533, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 847.3390838410045, + -513.7416494010533, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 847.3390838410045, + -510.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 847.3390838410045, + -507.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 847.3390838410045, + -504.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 847.3390838410045, + -501.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 847.3390838410045, + -498.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 847.3390838410045, + -495.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 847.3390838410045, + -492.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 847.3390838410045, + -489.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 847.3390838410045, + -486.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 847.3390838410045, + -483.74164940105334, + -2.5704045954894674 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 847.3390838410045, + -483.74164940105334, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 845.8390838410045, + -481.1435731897, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 844.3390838410045, + -478.5454969783467, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 842.8390838410045, + -475.9474207669934, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 841.3390838410045, + -473.3493445556401, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 839.8390838410045, + -470.75126834428676, + -2.5704045954894674 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 839.8390838410045, + -470.75126834428676, + -2.5704045954894674 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 839.8390838410045, + -470.75126834428676, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 841.3390838410045, + -468.15319213293344, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 842.8390838410045, + -465.5551159215801, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 844.3390838410045, + -462.9570397102268, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 845.8390838410045, + -460.3589634988735, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 847.3390838410045, + -457.7608872875202, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 848.8390838410045, + -455.16281107616686, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 850.3390838410045, + -452.56473486481354, + -2.5704045954894674 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 850.3390838410045, + -452.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 852.9371600523577, + -451.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 855.5352362637111, + -449.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 858.1333124750645, + -448.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 860.7313886864179, + -446.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 863.3294648977712, + -445.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 865.9275411091246, + -443.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 868.525617320478, + -442.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 871.1236935318313, + -440.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 873.7217697431847, + -439.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 876.3198459545381, + -437.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 878.9179221658915, + -436.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 881.5159983772448, + -434.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 884.1140745885982, + -433.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 886.7121507999516, + -431.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 889.310227011305, + -430.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 891.9083032226583, + -428.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 894.5063794340117, + -427.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 897.1044556453651, + -425.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 899.7025318567185, + -424.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 902.3006080680718, + -422.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 904.8986842794252, + -421.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 907.4967604907786, + -419.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 910.0948367021319, + -418.06473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 912.6929129134853, + -416.56473486481354, + -2.5704045954894674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 915.2909891248387, + -415.06473486481354, + -2.5704045954894674 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-22-7_104665169/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-22-7_104665169/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61e9e9fd92ef3c91049823a8f3baa8b4934746df --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-22-7_104665169/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 793.9066706718597, + -325.42877776247695, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 796.5047468832131, + -323.92877776247695, + 1.5822076664126827 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 796.5047468832131, + -323.92877776247695, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 798.0047468832131, + -321.33070155112364, + 1.5822076664126827 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 798.0047468832131, + -321.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 800.6028230945665, + -319.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 803.2008993059198, + -318.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 805.7989755172732, + -316.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 808.3970517286266, + -315.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 810.99512793998, + -313.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 813.5932041513333, + -312.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 816.1912803626867, + -310.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 818.7893565740401, + -309.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 821.3874327853935, + -307.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 823.9855089967468, + -306.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 826.5835852081002, + -304.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 829.1816614194536, + -303.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 831.779737630807, + -301.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 834.3778138421603, + -300.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 836.9758900535137, + -298.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 839.5739662648671, + -297.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 842.1720424762204, + -295.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 844.7701186875738, + -294.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 847.3681948989272, + -292.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 849.9662711102806, + -291.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 852.5643473216339, + -289.83070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 855.1624235329873, + -288.33070155112364, + 1.5822076664126827 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 855.1624235329873, + -288.33070155112364, + 1.5822076664126827 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 855.1624235329873, + -288.33070155112364, + 1.5822076664126827 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 855.1624235329873, + -288.33070155112364, + 1.5822076664126827 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 855.1624235329873, + -288.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 855.1624235329873, + -291.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 855.1624235329873, + -294.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 855.1624235329873, + -297.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 855.1624235329873, + -300.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 855.1624235329873, + -303.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 855.1624235329873, + -306.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 855.1624235329873, + -309.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 855.1624235329873, + -312.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 855.1624235329873, + -315.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 855.1624235329873, + -318.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 855.1624235329873, + -321.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 855.1624235329873, + -324.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 855.1624235329873, + -327.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 855.1624235329873, + -330.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 855.1624235329873, + -333.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 855.1624235329873, + -336.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 855.1624235329873, + -339.33070155112364, + 1.5822076664126827 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 855.1624235329873, + -339.33070155112364, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 856.6624235329873, + -341.92877776247695, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 858.1624235329873, + -344.52685397383027, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 859.6624235329873, + -347.1249301851836, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 861.1624235329873, + -349.7230063965369, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 862.6624235329873, + -352.3210826078902, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 864.1624235329873, + -354.91915881924353, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 865.6624235329873, + -357.51723503059685, + 1.5822076664126827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 867.1624235329873, + -360.11531124195017, + 1.5822076664126827 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-24-30_1456139563/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-24-30_1456139563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86fdc5ee1aba5e12747a01ba80dbed118f6f51b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-24-30_1456139563/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 115.51480096819255, + -440.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 115.51480096819255, + -443.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.51480096819255, + -446.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 115.51480096819255, + -449.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.51480096819255, + -452.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 115.51480096819255, + -455.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 115.51480096819255, + -458.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 115.51480096819255, + -461.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 115.51480096819255, + -464.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 115.51480096819255, + -467.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 115.51480096819255, + -470.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 115.51480096819255, + -473.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 115.51480096819255, + -476.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 115.51480096819255, + -479.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 115.51480096819255, + -482.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 115.51480096819255, + -485.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 115.51480096819255, + -488.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 115.51480096819255, + -491.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 115.51480096819255, + -494.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 115.51480096819255, + -497.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 115.51480096819255, + -500.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 115.51480096819255, + -503.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 115.51480096819255, + -506.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 115.51480096819255, + -509.60187746673824, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 115.51480096819255, + -512.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 115.51480096819255, + -515.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 115.51480096819255, + -518.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 115.51480096819255, + -521.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 115.51480096819255, + -524.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 115.51480096819255, + -527.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 115.51480096819255, + -530.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 115.51480096819255, + -533.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 115.51480096819255, + -536.6018774667382, + -3.9539513813600196 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 115.51480096819255, + -536.6018774667382, + -3.9539513813600196 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 115.51480096819255, + -536.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 118.11287717954586, + -538.1018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 120.71095339089918, + -539.6018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 123.3090296022525, + -541.1018774667382, + -3.9539513813600196 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 123.3090296022525, + -541.1018774667382, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 124.8090296022525, + -543.6999536780916, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 126.3090296022525, + -546.2980298894449, + -3.9539513813600196 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 126.3090296022525, + -546.2980298894449, + -3.9539513813600196 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 126.3090296022525, + -546.2980298894449, + -3.9539513813600196 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932046 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 126.3090296022525, + -546.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 123.71095339089918, + -547.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 121.11287717954586, + -549.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 118.51480096819255, + -550.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 115.91672475683923, + -552.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 113.31864854548591, + -553.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 110.7205723341326, + -555.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 108.12249612277928, + -556.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 105.52441991142597, + -558.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 102.92634370007265, + -559.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 100.32826748871933, + -561.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 97.73019127736602, + -562.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 95.1321150660127, + -564.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 92.53403885465939, + -565.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 89.93596264330607, + -567.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 87.33788643195275, + -568.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 84.73981022059944, + -570.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 82.14173400924612, + -571.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 79.5436577978928, + -573.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 76.94558158653949, + -574.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 74.34750537518617, + -576.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 71.74942916383286, + -577.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 69.15135295247954, + -579.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 66.55327674112623, + -580.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 63.95520052977291, + -582.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 61.357124318419594, + -583.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 58.75904810706628, + -585.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 56.16097189571296, + -586.7980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 53.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 53.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 50.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 47.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 44.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 41.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 38.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 35.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 32.562895684359646, + -588.2980298894449, + -3.9539513813600196 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-25-40_1527793660/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-25-40_1527793660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f18e1285eb070a83d22c6cd31339dc4e88e6425f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-25-40_1527793660/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1414.2941022898206, + 31.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1414.2941022898206, + 28.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1414.2941022898206, + 25.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1414.2941022898206, + 22.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1414.2941022898206, + 19.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1414.2941022898206, + 16.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1414.2941022898206, + 13.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1414.2941022898206, + 10.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1414.2941022898206, + 7.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1414.2941022898206, + 4.937983294986026, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1414.2941022898206, + 1.9379832949860258, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1414.2941022898206, + -1.0620167050139742, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1414.2941022898206, + -4.062016705013974, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1414.2941022898206, + -7.062016705013974, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1414.2941022898206, + -10.062016705013974, + -1.2390918039202896 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1414.2941022898206, + -10.062016705013974, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1415.7941022898206, + -12.66009291636729, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1417.2941022898206, + -15.258169127720606, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1418.7941022898206, + -17.856245339073922, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1420.2941022898206, + -20.454321550427238, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1421.7941022898206, + -23.052397761780554, + -1.2390918039202896 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1421.7941022898206, + -23.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1421.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1421.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1421.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1421.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1421.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1424.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1427.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1430.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1433.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1436.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1439.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1442.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1445.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1448.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1451.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1454.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1457.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1460.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1463.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1466.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1469.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1472.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1475.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1478.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1481.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1484.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1487.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1490.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1493.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1496.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1499.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1502.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1505.7941022898206, + -26.052397761780554, + -1.2390918039202896 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-26-41_729568616/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-26-41_729568616/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c0249259ef94dc88f6d623e835dc1ec8a7c4623 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-26-41_729568616/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 395.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 398.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 401.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 404.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 407.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 410.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 416.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 419.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 422.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 425.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 428.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 431.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 434.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 437.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 440.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 443.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 446.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 449.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 452.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 455.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 458.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 461.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 464.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 467.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 470.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 473.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 476.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 479.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 482.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 485.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 488.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 491.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 494.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 497.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 500.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 503.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 503.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 503.54037189855495, + -357.4771152228664, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 505.04037189855495, + -360.07519143421973, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 506.54037189855495, + -362.67326764557305, + 0.023565250775803293 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 506.54037189855495, + -362.67326764557305, + 0.023565250775803293 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 506.54037189855495, + -362.67326764557305, + 0.023565250775803293 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 506.54037189855495, + -362.67326764557305, + 0.023565250775803293 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 506.54037189855495, + -362.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 503.94229568720164, + -364.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 501.3442194758483, + -365.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 498.746143264495, + -367.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 496.1480670531417, + -368.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 493.5499908417884, + -370.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 490.95191463043506, + -371.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 488.35383841908174, + -373.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 485.7557622077284, + -374.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 483.1576859963751, + -376.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 480.5596097850218, + -377.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 477.9615335736685, + -379.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 475.36345736231516, + -380.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 472.76538115096184, + -382.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 470.1673049396085, + -383.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 467.5692287282552, + -385.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 464.9711525169019, + -386.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 462.3730763055486, + -388.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 459.77500009419526, + -389.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 457.17692388284195, + -391.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 454.57884767148863, + -392.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 451.9807714601353, + -394.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 449.382695248782, + -395.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 446.7846190374287, + -397.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 444.18654282607537, + -398.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 441.58846661472205, + -400.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 438.99039040336874, + -401.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 436.3923141920154, + -403.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 433.7942379806621, + -404.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 431.1961617693088, + -406.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 428.59808555795547, + -407.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 426.00000934660216, + -409.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 423.40193313524884, + -410.67326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 420.8038569238955, + -412.17326764557305, + 0.023565250775803293 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 420.8038569238955, + -412.17326764557305, + 0.023565250775803293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 419.3038569238955, + -414.77134385692636, + 0.023565250775803293 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-26-7_245277883/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-26-7_245277883/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d8bedc8c7ae72ebc6019388bd4f7eed9cb4c904 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-26-7_245277883/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -69.73383124541704, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -66.73383124541704, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -63.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -60.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -57.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -54.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -51.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -48.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -45.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -42.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -39.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -36.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -33.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -30.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -27.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -24.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -21.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -18.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -15.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -12.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -9.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -6.733831245417036, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -3.7338312454170364, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -0.7338312454170364, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2.2661687545829636, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 5.266168754582964, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 8.266168754582964, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 11.266168754582964, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 14.266168754582964, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 17.266168754582964, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 20.266168754582964, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 20.266168754582964, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 22.86424496593628, + 5.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 25.462321177289596, + 4.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 28.06039738864291, + 2.611363947535917, + -0.3738133229392657 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 28.06039738864291, + 2.611363947535917, + -0.3738133229392657 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 28.06039738864291, + 2.611363947535917, + -0.3738133229392657 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 28.06039738864291, + 2.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 30.658473599996228, + 4.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 33.256549811349544, + 5.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 35.85462602270286, + 7.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 38.452702234056176, + 8.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 41.05077844540949, + 10.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 43.64885465676281, + 11.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 46.246930868116124, + 13.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 48.84500707946944, + 14.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 51.443083290822756, + 16.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 54.04115950217607, + 17.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 56.63923571352939, + 19.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 59.237311924882704, + 20.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 61.83538813623602, + 22.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 64.43346434758934, + 23.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 67.03154055894265, + 25.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 69.62961677029597, + 26.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 72.22769298164928, + 28.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 74.8257691930026, + 29.611363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 77.42384540435592, + 31.111363947535917, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 80.02192161570923, + 32.611363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 82.61999782706255, + 34.111363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 85.21807403841586, + 35.611363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 87.81615024976918, + 37.111363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 90.4142264611225, + 38.611363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 93.01230267247581, + 40.111363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 95.61037888382913, + 41.611363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 98.20845509518244, + 43.111363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 100.80653130653576, + 44.611363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 103.40460751788908, + 46.111363947535914, + -0.3738133229392657 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 103.40460751788908, + 46.111363947535914, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 104.90460751788908, + 48.70944015888923, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 106.40460751788908, + 51.307516370242546, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 107.90460751788908, + 53.90559258159586, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 109.40460751788908, + 56.50366879294918, + -0.3738133229392657 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 110.90460751788908, + 59.101745004302494, + -0.3738133229392657 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-27-26_1183912267/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-27-26_1183912267/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..111b5ae8417251026be114077f349a76018a19d2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-27-26_1183912267/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1226.0722769016952, + -162.44376133767673, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1227.5722769016952, + -165.04183754903005, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1229.0722769016952, + -167.63991376038337, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1230.5722769016952, + -170.23798997173668, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1232.0722769016952, + -172.83606618309, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1233.5722769016952, + -175.4341423944433, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1235.0722769016952, + -178.03221860579663, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1236.5722769016952, + -180.63029481714995, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1238.0722769016952, + -183.22837102850326, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1239.5722769016952, + -185.82644723985658, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1241.0722769016952, + -188.4245234512099, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1242.5722769016952, + -191.0225996625632, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1244.0722769016952, + -193.62067587391653, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1245.5722769016952, + -196.21875208526984, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1247.0722769016952, + -198.81682829662316, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1248.5722769016952, + -201.41490450797647, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1250.0722769016952, + -204.0129807193298, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1251.5722769016952, + -206.6110569306831, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1253.0722769016952, + -209.20913314203642, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1254.5722769016952, + -211.80720935338974, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1256.0722769016952, + -214.40528556474305, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1257.5722769016952, + -217.00336177609637, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1259.0722769016952, + -219.60143798744969, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1260.5722769016952, + -222.199514198803, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1262.0722769016952, + -224.79759041015632, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1263.5722769016952, + -227.39566662150963, + -0.32576802227572 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1263.5722769016952, + -227.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1266.1703531130486, + -228.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1268.768429324402, + -230.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1271.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1271.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1274.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1277.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1280.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1283.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1286.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1289.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1292.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1295.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1298.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1301.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1304.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1307.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1307.3665055357553, + -231.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1309.9645817471087, + -230.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1312.562657958462, + -228.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1315.1607341698154, + -227.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1317.7588103811688, + -225.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1320.3568865925222, + -224.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1322.9549628038756, + -222.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1325.553039015229, + -221.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1328.1511152265823, + -219.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1330.7491914379357, + -218.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1333.347267649289, + -216.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1335.9453438606424, + -215.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1338.5434200719958, + -213.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1341.1414962833492, + -212.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1343.7395724947025, + -210.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1346.337648706056, + -209.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1348.9357249174093, + -207.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1351.5338011287627, + -206.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1354.131877340116, + -204.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1356.7299535514694, + -203.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1359.3280297628228, + -201.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1361.9261059741762, + -200.39566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1364.5241821855295, + -198.89566662150963, + -0.32576802227572 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1364.5241821855295, + -198.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1367.5241821855295, + -198.89566662150963, + -0.32576802227572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1370.5241821855295, + -198.89566662150963, + -0.32576802227572 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-27-58_1538128223/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-27-58_1538128223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1b97199c40989952765251f37467e8e63cc88e7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-27-58_1538128223/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -220.93066804980973, + -70.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -220.93066804980973, + -73.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -220.93066804980973, + -76.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -220.93066804980973, + -79.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -220.93066804980973, + -82.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -220.93066804980973, + -85.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -220.93066804980973, + -88.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -220.93066804980973, + -91.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -220.93066804980973, + -94.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -220.93066804980973, + -97.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -220.93066804980973, + -100.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -220.93066804980973, + -103.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -220.93066804980973, + -106.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -220.93066804980973, + -109.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -220.93066804980973, + -112.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -220.93066804980973, + -115.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -220.93066804980973, + -118.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -220.93066804980973, + -121.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -220.93066804980973, + -124.64332108162017, + -3.082783349117004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -220.93066804980973, + -124.64332108162017, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -219.43066804980973, + -127.24139729297349, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -217.93066804980973, + -129.8394735043268, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -216.43066804980973, + -132.43754971568012, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -214.93066804980973, + -135.03562592703344, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -213.43066804980973, + -137.63370213838675, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -211.93066804980973, + -140.23177834974007, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -210.43066804980973, + -142.82985456109338, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -208.93066804980973, + -145.4279307724467, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -207.43066804980973, + -148.02600698380002, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -205.93066804980973, + -150.62408319515333, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -204.43066804980973, + -153.22215940650665, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -202.93066804980973, + -155.82023561785996, + -3.082783349117004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -202.93066804980973, + -155.82023561785996, + -3.082783349117004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -202.93066804980973, + -155.82023561785996, + -3.082783349117004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -202.93066804980973, + -155.82023561785996, + -3.082783349117004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -202.93066804980973, + -155.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -205.52874426116304, + -157.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -208.12682047251636, + -158.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -210.72489668386967, + -160.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -213.322972895223, + -161.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -215.9210491065763, + -163.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -218.51912531792962, + -164.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -221.11720152928294, + -166.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -223.71527774063625, + -167.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -226.31335395198957, + -169.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -228.91143016334289, + -170.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -231.5095063746962, + -172.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -234.10758258604952, + -173.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -236.70565879740283, + -175.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -239.30373500875615, + -176.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -241.90181122010947, + -178.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -244.49988743146278, + -179.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -247.0979636428161, + -181.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -249.6960398541694, + -182.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -252.29411606552273, + -184.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -254.89219227687605, + -185.82023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -257.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914993 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -257.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589798 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -260.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -263.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -266.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -269.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -272.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -275.4902684882294, + -187.32023561785996, + -3.082783349117004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-29-34_713355511/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-29-34_713355511/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47f82f8a5c4941a395e3a391d763a99e0682dc62 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-29-34_713355511/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 254.16031705979057, + 191.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983036 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 256.75839327114386, + 192.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983036 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 259.3564694824972, + 194.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 261.9545456938505, + 195.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 264.5526219052038, + 197.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 267.1506981165571, + 198.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 269.74877432791044, + 200.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.34685053926376, + 201.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 274.94492675061707, + 203.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 277.5430029619704, + 204.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 280.1410791733237, + 206.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 282.739155384677, + 207.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 285.33723159603034, + 209.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 287.93530780738365, + 210.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 290.53338401873697, + 212.0630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.1314602300903, + 213.5630897815346, + -4.27611106644293 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 293.1314602300903, + 213.5630897815346, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 294.6314602300903, + 216.1611659928879, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 296.1314602300903, + 218.75924220424122, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.6314602300903, + 221.35731841559453, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 299.1314602300903, + 223.95539462694785, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 300.6314602300903, + 226.55347083830117, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 302.1314602300903, + 229.15154704965448, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 303.6314602300903, + 231.7496232610078, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 305.1314602300903, + 234.34769947236111, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 306.6314602300903, + 236.94577568371443, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 308.1314602300903, + 239.54385189506775, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 309.6314602300903, + 242.14192810642106, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 311.1314602300903, + 244.74000431777438, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 312.6314602300903, + 247.3380805291277, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 314.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 314.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 314.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 314.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 317.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 320.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 323.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 326.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 329.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 332.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 335.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 338.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 341.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 344.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 347.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 350.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 353.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 356.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 359.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 362.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 362.1314602300903, + 249.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 364.7295364414436, + 248.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 367.3276126527969, + 246.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 369.92568886415023, + 245.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 372.52376507550355, + 243.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 375.12184128685686, + 242.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 377.7199174982102, + 240.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 380.3179937095635, + 239.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 382.9160699209168, + 237.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 385.5141461322701, + 236.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 388.11222234362344, + 234.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 390.71029855497676, + 233.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 393.3083747663301, + 231.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 395.9064509776834, + 230.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 398.5045271890367, + 228.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 401.10260340039, + 227.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 403.70067961174334, + 225.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 406.29875582309666, + 224.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 408.89683203444997, + 222.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 411.4949082458033, + 221.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 414.0929844571566, + 219.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 416.6910606685099, + 218.436156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 419.28913687986324, + 216.936156740481, + -4.27611106644293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 421.88721309121655, + 215.436156740481, + -4.27611106644293 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-3-7_919785523/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-3-7_919785523/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e220fb59c4a4952238b3c851c46851cf635218e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-3-7_919785523/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -101.45010969920601, + -836.0827774760138, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.95010969920601, + -833.4847012646605, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -104.45010969920601, + -830.8866250533072, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -105.95010969920601, + -828.2885488419538, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -107.45010969920601, + -825.6904726306004, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -108.95010969920601, + -823.092396419247, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -110.45010969920601, + -820.4943202078937, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -111.95010969920601, + -817.8962439965403, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -113.45010969920601, + -815.2981677851869, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -114.95010969920601, + -812.7000915738336, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -116.45010969920601, + -810.1020153624802, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -117.95010969920601, + -807.5039391511268, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -119.45010969920601, + -804.9058629397734, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -120.95010969920601, + -802.3077867284201, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -122.45010969920601, + -799.7097105170667, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -123.95010969920601, + -797.1116343057133, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -125.45010969920601, + -794.51355809436, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -126.95010969920601, + -791.9154818830066, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -128.450109699206, + -789.3174056716532, + -0.29503942136052874 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393182 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -128.450109699206, + -789.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948832 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -128.450109699206, + -786.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -128.450109699206, + -783.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -128.450109699206, + -780.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -128.450109699206, + -777.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -128.450109699206, + -774.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -128.450109699206, + -771.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -128.450109699206, + -768.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -128.450109699206, + -765.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -128.450109699206, + -762.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -128.450109699206, + -759.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -128.450109699206, + -756.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -128.450109699206, + -753.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.450109699206, + -750.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -128.450109699206, + -747.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -128.450109699206, + -744.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -128.450109699206, + -741.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -128.450109699206, + -738.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -128.450109699206, + -735.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -128.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -128.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -128.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -125.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -122.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -119.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -116.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -113.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -110.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -107.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -104.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -101.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -98.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -95.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -92.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -89.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -86.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -83.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -80.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -77.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -74.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -71.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -68.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -65.450109699206, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -62.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -59.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -56.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -53.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -50.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -47.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -44.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -41.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -38.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -35.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -35.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -35.450109699205996, + -732.3174056716532, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -33.950109699205996, + -729.7193294602998, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -32.450109699205996, + -727.1212532489465, + -0.29503942136052874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -30.950109699205996, + -724.5231770375931, + -0.29503942136052874 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-31-18_1705632563/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-31-18_1705632563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cef4933b1c3db3296aa0498572ccbccbb2c910d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-31-18_1705632563/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 450.00860135757046, + -201.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 447.41052514621714, + -203.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 444.8124489348638, + -204.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 442.2143727235105, + -206.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 439.6162965121572, + -207.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 437.0182203008039, + -209.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 434.42014408945056, + -210.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 431.82206787809724, + -212.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 429.2239916667439, + -213.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 426.6259154553906, + -215.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 424.0278392440373, + -216.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 421.429763032684, + -218.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 418.83168682133066, + -219.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 416.23361060997735, + -221.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.63553439862403, + -222.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 411.0374581872707, + -224.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 408.4393819759174, + -225.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 405.8413057645641, + -227.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 403.24322955321077, + -228.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 400.64515334185745, + -230.42095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 398.04707713050414, + -231.92095296285063, + -0.26422684337804725 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 398.04707713050414, + -231.92095296285063, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 396.54707713050414, + -234.51902917420395, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 395.04707713050414, + -237.11710538555727, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 393.54707713050414, + -239.71518159691058, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 392.04707713050414, + -242.3132578082639, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 390.54707713050414, + -244.91133401961721, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 389.04707713050414, + -247.50941023097053, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 387.54707713050414, + -250.10748644232385, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 386.04707713050414, + -252.70556265367716, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 384.54707713050414, + -255.30363886503048, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 383.04707713050414, + -257.90171507638377, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 381.54707713050414, + -260.4997912877371, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 380.04707713050414, + -263.0978674990904, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 378.54707713050414, + -265.6959437104437, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 377.04707713050414, + -268.29401992179703, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 375.54707713050414, + -270.89209613315035, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 374.04707713050414, + -273.49017234450366, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 372.54707713050414, + -276.088248555857, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 371.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 371.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 371.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 371.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 371.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 371.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 374.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 377.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 380.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 383.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 386.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 389.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 392.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 395.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 398.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 401.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 404.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 404.04707713050414, + -278.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 406.64515334185745, + -280.1863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 409.24322955321077, + -281.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 411.8413057645641, + -283.1863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 414.4393819759174, + -284.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 417.0374581872707, + -286.1863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 419.63553439862403, + -287.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 422.23361060997735, + -289.1863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 424.83168682133066, + -290.6863247672103, + -0.26422684337804725 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 427.429763032684, + -292.1863247672103, + -0.26422684337804725 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-34-38_1562887660/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-34-38_1562887660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e1f36aac921fca1873716540a62d6ab17701511 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-34-38_1562887660/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -134.91430637328634, + -537.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -134.91430637328634, + -540.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -134.91430637328634, + -543.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -134.91430637328634, + -546.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -134.91430637328634, + -549.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -134.91430637328634, + -552.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.91430637328634, + -555.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -134.91430637328634, + -558.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -134.91430637328634, + -561.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -134.91430637328634, + -564.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -134.91430637328634, + -567.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -134.91430637328634, + -570.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -134.91430637328634, + -573.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -134.91430637328634, + -576.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -134.91430637328634, + -579.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -134.91430637328634, + -582.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -134.91430637328634, + -585.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -134.91430637328634, + -588.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -134.91430637328634, + -591.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -134.91430637328634, + -594.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -134.91430637328634, + -597.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -134.91430637328634, + -600.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -134.91430637328634, + -603.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -134.91430637328634, + -606.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.91430637328634, + -609.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -134.91430637328634, + -612.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -134.91430637328634, + -615.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -134.91430637328634, + -618.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -134.91430637328634, + -621.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -134.91430637328634, + -624.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -134.91430637328634, + -627.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -134.91430637328634, + -630.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -134.91430637328634, + -633.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -134.91430637328634, + -636.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -134.91430637328634, + -639.6781000171113, + 0.7871433507110606 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -134.91430637328634, + -639.6781000171113, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -133.41430637328634, + -642.2761762284647, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -131.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -131.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -131.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "turn left", + "value": 30, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -128.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -125.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -122.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -119.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -116.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -113.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -110.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -107.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -104.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -104.91430637328634, + -644.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -102.31623016193302, + -643.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -99.7181539505797, + -641.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -97.12007773922639, + -640.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -94.52200152787307, + -638.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -91.92392531651976, + -637.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -89.32584910516644, + -635.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -86.72777289381312, + -634.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -84.12969668245981, + -632.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -81.53162047110649, + -631.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -78.93354425975318, + -629.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -76.33546804839986, + -628.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -73.73739183704654, + -626.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -71.13931562569323, + -625.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -68.54123941433991, + -623.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -65.9431632029866, + -622.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -63.34508699163328, + -620.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -60.747010780279965, + -619.3742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -58.14893456892665, + -617.8742524398181, + 0.7871433507110606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -55.55085835757333, + -616.3742524398181, + 0.7871433507110606 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-35-42_1401422376/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-35-42_1401422376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05c2076ce6e2f35b05782cc181d6c407f783c341 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-35-42_1401422376/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1414.2412591104585, + 13.395474110183613, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1414.2412591104585, + 10.395474110183613, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1414.2412591104585, + 7.3954741101836134, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1414.2412591104585, + 4.3954741101836134, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1414.2412591104585, + 1.3954741101836134, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1414.2412591104585, + -1.6045258898163866, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1414.2412591104585, + -4.6045258898163866, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1414.2412591104585, + -7.6045258898163866, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1414.2412591104585, + -10.604525889816387, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1414.2412591104585, + -13.604525889816387, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1414.2412591104585, + -16.604525889816387, + 4.097739389634814 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1414.2412591104585, + -16.604525889816387, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1415.7412591104585, + -19.202602101169703, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1417.2412591104585, + -21.80067831252302, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1418.7412591104585, + -24.398754523876335, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1420.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1420.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1420.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1420.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1423.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1426.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1429.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1432.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1435.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1438.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1441.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1444.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1447.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1450.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1453.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1456.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1459.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1462.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1465.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1468.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1471.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1474.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1477.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1480.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1483.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1486.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1489.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1492.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1495.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1498.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1501.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1504.2412591104585, + -26.99683073522965, + 4.097739389634814 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-36-41_2126362173/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-36-41_2126362173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a251db62fadff35837b630371293433fd28a1ac4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-36-41_2126362173/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 326.15332081205645, + 363.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 326.15332081205645, + 360.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 326.15332081205645, + 357.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 326.15332081205645, + 354.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 326.15332081205645, + 351.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 326.15332081205645, + 348.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 326.15332081205645, + 345.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 326.15332081205645, + 342.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 326.15332081205645, + 339.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 326.15332081205645, + 336.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 326.15332081205645, + 333.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 326.15332081205645, + 330.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.15332081205645, + 327.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 326.15332081205645, + 324.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 326.15332081205645, + 321.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 326.15332081205645, + 318.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.15332081205645, + 315.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.15332081205645, + 312.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 326.15332081205645, + 309.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 326.15332081205645, + 306.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 326.15332081205645, + 303.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 326.15332081205645, + 300.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 326.15332081205645, + 297.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 326.15332081205645, + 294.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.15332081205645, + 291.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.15332081205645, + 288.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.15332081205645, + 285.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 326.15332081205645, + 282.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 326.15332081205645, + 279.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 326.15332081205645, + 276.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 326.15332081205645, + 273.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 326.15332081205645, + 270.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 326.15332081205645, + 267.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 326.15332081205645, + 264.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 326.15332081205645, + 261.8082863062858, + -0.03189803627382659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 326.15332081205645, + 261.8082863062858, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 324.65332081205645, + 259.2102100949325, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 323.15332081205645, + 256.6121338835792, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 321.65332081205645, + 254.01405767222587, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 320.15332081205645, + 251.41598146087256, + -0.03189803627382659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 320.15332081205645, + 251.41598146087256, + -0.03189803627382659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 320.15332081205645, + 251.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 317.55524460070313, + 249.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 314.9571683893498, + 248.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 312.3590921779965, + 246.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 309.7610159666432, + 245.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 307.16293975528987, + 243.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 304.56486354393655, + 242.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 301.96678733258324, + 240.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 299.3687111212299, + 239.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 296.7706349098766, + 237.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 294.1725586985233, + 236.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 291.57448248717, + 234.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 288.97640627581666, + 233.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 286.37833006446334, + 231.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 283.78025385311, + 230.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 281.1821776417567, + 228.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 278.5841014304034, + 227.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 275.9860252190501, + 225.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 273.38794900769676, + 224.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 270.78987279634345, + 222.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 268.19179658499013, + 221.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 265.5937203736368, + 219.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 262.9956441622835, + 218.41598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 260.3975679509302, + 216.91598146087256, + -0.03189803627382659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 260.3975679509302, + 216.91598146087256, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 258.8975679509302, + 214.31790524951924, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 257.3975679509302, + 211.71982903816593, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 255.89756795093018, + 209.1217528268126, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 254.39756795093018, + 206.5236766154593, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 252.89756795093018, + 203.92560040410598, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 251.39756795093018, + 201.32752419275266, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 249.89756795093018, + 198.72944798139935, + -0.03189803627382659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 249.89756795093018, + 198.72944798139935, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 247.29949173957687, + 197.22944798139935, + -0.03189803627382659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 244.70141552822355, + 195.72944798139935, + -0.03189803627382659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-38-27_1455371254/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-38-27_1455371254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f087912a191cd94a30ba84f457df4cdfc989a924 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-38-27_1455371254/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -115.91324713762634, + -416.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -113.31517092627303, + -414.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -110.71709471491971, + -413.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -108.1190185035664, + -411.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -105.52094229221308, + -410.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.92286608085976, + -408.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -100.32478986950645, + -407.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -97.72671365815313, + -405.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -95.12863744679981, + -404.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -92.5305612354465, + -402.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -89.93248502409318, + -401.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -87.33440881273987, + -399.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -84.73633260138655, + -398.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -82.13825639003323, + -396.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -79.54018017867992, + -395.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -76.9421039673266, + -393.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -74.34402775597329, + -392.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -71.74595154461997, + -390.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -69.14787533326665, + -389.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -66.54979912191334, + -387.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -63.95172291056002, + -386.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -61.353646699206706, + -384.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -58.75557048785339, + -383.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -56.157494276500074, + -381.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -53.55941806514676, + -380.00737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -50.96134185379344, + -378.50737637588213, + 0.9364053998688693 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -50.96134185379344, + -378.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -49.46134185379344, + -375.9093001645288, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -47.96134185379344, + -373.3112239531755, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -46.46134185379344, + -370.7131477418222, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -44.96134185379344, + -368.11507153046887, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -43.46134185379344, + -365.51699531911555, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -41.96134185379344, + -362.91891910776224, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -40.46134185379344, + -360.3208428964089, + 0.9364053998688693 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -40.46134185379344, + -360.3208428964089, + 0.9364053998688693 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -40.46134185379344, + -360.3208428964089, + 0.9364053998688693 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -40.46134185379344, + -360.3208428964089, + 0.9364053998688693 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -40.46134185379344, + -360.3208428964089, + 0.9364053998688693 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -40.46134185379344, + -360.3208428964089, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -38.96134185379344, + -362.91891910776224, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -37.46134185379344, + -365.51699531911555, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -35.96134185379344, + -368.11507153046887, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -34.46134185379344, + -370.7131477418222, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -32.96134185379344, + -373.3112239531755, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -31.461341853793442, + -375.9093001645288, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -29.961341853793442, + -378.50737637588213, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -28.461341853793442, + -381.10545258723545, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -26.961341853793442, + -383.70352879858876, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -25.461341853793442, + -386.3016050099421, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -23.961341853793442, + -388.8996812212954, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -22.461341853793442, + -391.4977574326487, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -20.961341853793442, + -394.095833644002, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -19.461341853793442, + -396.69390985535534, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -17.961341853793442, + -399.29198606670866, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -16.461341853793442, + -401.890062278062, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -14.961341853793442, + -404.4881384894153, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -13.461341853793442, + -407.0862147007686, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -11.961341853793442, + -409.6842909121219, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -10.461341853793442, + -412.28236712347524, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -8.961341853793442, + -414.88044333482856, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -7.461341853793442, + -417.4785195461819, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -5.961341853793442, + -420.0765957575352, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -4.461341853793442, + -422.6746719688885, + 0.9364053998688693 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -4.461341853793442, + -422.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -4.461341853793442, + -425.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -4.461341853793442, + -428.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -4.461341853793442, + -431.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -4.461341853793442, + -434.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -4.461341853793442, + -437.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -4.461341853793442, + -440.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -4.461341853793442, + -443.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -4.461341853793442, + -446.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -4.461341853793442, + -449.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -4.461341853793442, + -452.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -4.461341853793442, + -455.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -4.461341853793442, + -458.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -4.461341853793442, + -461.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -4.461341853793442, + -464.6746719688885, + 0.9364053998688693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -4.461341853793442, + -467.6746719688885, + 0.9364053998688693 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-4-36_65785292/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-4-36_65785292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8bb87ed881152dad9d68979c145bcb6f3187a84 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-4-36_65785292/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1413.98784804514, + 21.373223445943438, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1413.98784804514, + 18.373223445943438, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1413.98784804514, + 15.373223445943438, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1413.98784804514, + 12.373223445943438, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1413.98784804514, + 9.373223445943438, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1413.98784804514, + 6.373223445943438, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1413.98784804514, + 3.373223445943438, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1413.98784804514, + 0.37322344594343804, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1413.98784804514, + -2.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1413.98784804514, + -5.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1413.98784804514, + -8.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1413.98784804514, + -11.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1413.98784804514, + -14.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1413.98784804514, + -17.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1413.98784804514, + -20.626776554056562, + 0.6536503186767506 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1413.98784804514, + -20.626776554056562, + 0.6536503186767506 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1413.98784804514, + -20.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1416.5859242564934, + -22.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1419.1840004678468, + -23.626776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1421.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1421.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1424.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1427.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1430.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1433.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1436.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1439.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1442.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1445.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1448.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1451.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1454.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1457.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1460.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1463.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1466.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1469.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1472.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1475.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1478.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1481.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1484.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1487.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1490.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1493.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1496.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1499.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1502.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1505.7820766792001, + -25.126776554056562, + 0.6536503186767506 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-40-13_1922018481/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-40-13_1922018481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa9e2625964a4466aee8b3333a3bedf5c6efd9ec --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-40-13_1922018481/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 125.88244846682045, + -617.1572863241129, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 124.38244846682045, + -619.7553625354662, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 122.88244846682045, + -622.3534387468196, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 121.38244846682045, + -624.951514958173, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 119.88244846682045, + -627.5495911695264, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 118.38244846682045, + -630.1476673808797, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.88244846682045, + -632.7457435922331, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 115.38244846682045, + -635.3438198035865, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 113.88244846682045, + -637.9418960149399, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 112.38244846682045, + -640.5399722262932, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 110.88244846682045, + -643.1380484376466, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 109.38244846682045, + -645.736124649, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 107.88244846682045, + -648.3342008603533, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 106.38244846682045, + -650.9322770717067, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 104.88244846682045, + -653.5303532830601, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 103.38244846682045, + -656.1284294944135, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 101.88244846682045, + -658.7265057057668, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 100.38244846682045, + -661.3245819171202, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 98.88244846682045, + -663.9226581284736, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 97.38244846682045, + -666.520734339827, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 95.88244846682045, + -669.1188105511803, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 94.38244846682045, + -671.7168867625337, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 92.88244846682045, + -674.3149629738871, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 91.38244846682045, + -676.9130391852405, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 89.88244846682045, + -679.5111153965938, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 88.38244846682045, + -682.1091916079472, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 86.88244846682045, + -684.7072678193006, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 85.38244846682045, + -687.3053440306539, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 83.88244846682045, + -689.9034202420073, + -1.1257199628956975 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 83.88244846682045, + -689.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 81.28437225546713, + -691.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 78.68629604411382, + -692.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 76.0882198327605, + -694.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 73.49014362140719, + -695.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 70.89206741005387, + -697.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 68.29399119870055, + -698.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 65.69591498734724, + -700.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 63.09783877599392, + -701.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 60.499762564640605, + -703.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 57.90168635328729, + -704.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 55.30361014193397, + -706.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 52.70553393058066, + -707.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 50.10745771922734, + -709.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 47.509381507874025, + -710.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 44.91130529652071, + -712.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.31322908516739, + -713.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 39.71515287381408, + -715.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 37.11707666246076, + -716.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 34.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 34.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 31.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 28.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 25.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 22.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 19.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 16.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 13.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 10.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 7.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 4.519000451107445, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1.5190004511074449, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1.4809995488925551, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -4.480999548892555, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -7.480999548892555, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -10.480999548892555, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -13.480999548892555, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -16.480999548892555, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -19.480999548892555, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -19.480999548892555, + -718.4034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -22.07907576024587, + -719.9034202420073, + -1.1257199628956975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -24.677151971599187, + -721.4034202420073, + -1.1257199628956975 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-42-25_1815983044/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-42-25_1815983044/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45bea3b237d4b8ec6e961c79fb0fb57bdfa982ce --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-42-25_1815983044/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 776.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 773.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 770.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 767.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 764.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 761.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 758.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 755.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 752.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 749.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 746.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 743.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 740.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 737.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 734.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 731.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 728.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 725.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 722.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 719.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 716.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 713.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 713.0155281241316, + -81.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 710.4174519127782, + -79.7870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 707.8193757014249, + -78.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 705.2212994900715, + -76.7870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 702.6232232787181, + -75.2870905476101, + 1.8655289531296813 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 702.6232232787181, + -75.2870905476101, + 1.8655289531296813 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 702.6232232787181, + -75.2870905476101, + 1.8655289531296813 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 702.6232232787181, + -75.2870905476101, + 1.8655289531296813 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 702.6232232787181, + -75.2870905476101, + 1.8655289531296813 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 702.6232232787181, + -75.2870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 705.2212994900715, + -73.7870905476101, + 1.8655289531296813 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 705.2212994900715, + -73.7870905476101, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 706.7212994900715, + -71.18901433625679, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 708.2212994900715, + -68.59093812490347, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 709.7212994900715, + -65.99286191355016, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 711.2212994900715, + -63.39478570219684, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 712.7212994900715, + -60.796709490843526, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 714.2212994900715, + -58.19863327949021, + 1.8655289531296813 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 714.2212994900715, + -58.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 716.8193757014249, + -56.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 719.4174519127782, + -55.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 722.0155281241316, + -53.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 724.613604335485, + -52.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 727.2116805468384, + -50.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 729.8097567581917, + -49.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 732.4078329695451, + -47.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 735.0059091808985, + -46.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 737.6039853922518, + -44.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 740.2020616036052, + -43.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 742.8001378149586, + -41.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 745.398214026312, + -40.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 747.9962902376653, + -38.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 750.5943664490187, + -37.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 753.1924426603721, + -35.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 755.7905188717255, + -34.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 758.3885950830788, + -32.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 760.9866712944322, + -31.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 763.5847475057856, + -29.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 766.182823717139, + -28.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 768.7808999284923, + -26.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 771.3789761398457, + -25.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 773.9770523511991, + -23.69863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 776.5751285625524, + -22.19863327949021, + 1.8655289531296813 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 779.1732047739058, + -20.69863327949021, + 1.8655289531296813 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-46-10_242639747/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-46-10_242639747/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b875433a25aa9f1c96244f2ec9c5198f15b5d34 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-46-10_242639747/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 572.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 575.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 578.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 581.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 584.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 587.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 590.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 593.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 596.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 599.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 602.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 605.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 608.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 611.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 614.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 617.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 617.3194594265411, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 619.9175356378944, + -58.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 622.5156118492478, + -59.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 625.1136880606011, + -61.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 627.7117642719545, + -62.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 630.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 630.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 633.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 636.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 639.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 642.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 645.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 648.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 648.3098404833079, + -64.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 650.9079166946613, + -62.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 653.5059929060146, + -61.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 656.104069117368, + -59.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 658.7021453287214, + -58.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 661.3002215400747, + -56.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 663.8982977514281, + -55.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 666.4963739627815, + -53.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 669.0944501741349, + -52.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 671.6925263854882, + -50.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 674.2906025968416, + -49.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 676.888678808195, + -47.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 679.4867550195484, + -46.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 682.0848312309017, + -44.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 684.6829074422551, + -43.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 687.2809836536085, + -41.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 689.8790598649618, + -40.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 692.4771360763152, + -38.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 695.0752122876686, + -37.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 697.673288499022, + -35.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 700.2713647103753, + -34.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 702.8694409217287, + -32.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 705.4675171330821, + -31.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 708.0655933444355, + -29.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 710.6636695557888, + -28.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 713.2617457671422, + -26.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 715.8598219784956, + -25.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 718.457898189849, + -23.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 721.0559744012023, + -22.4300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 723.6540506125557, + -20.9300644207525, + 2.784145631714985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 726.2521268239091, + -19.4300644207525, + 2.784145631714985 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-47-16_1579952366/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-47-16_1579952366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e6a3d6b724dc5d6f28ecbc64b1fd463599827cc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-47-16_1579952366/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 320.65944019553524, + -420.92095078035436, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 319.15944019553524, + -418.32287456900104, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 317.65944019553524, + -415.7247983576477, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 316.15944019553524, + -413.1267221462944, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 314.65944019553524, + -410.5286459349411, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 313.15944019553524, + -407.9305697235878, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.65944019553524, + -405.33249351223446, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.15944019553524, + -402.73441730088115, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 308.65944019553524, + -400.13634108952783, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 307.15944019553524, + -397.5382648781745, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 305.65944019553524, + -394.9401886668212, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 304.15944019553524, + -392.3421124554679, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 302.65944019553524, + -389.74403624411457, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 301.15944019553524, + -387.14596003276125, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 299.65944019553524, + -384.54788382140794, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.15944019553524, + -381.9498076100546, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 296.65944019553524, + -379.3517313987013, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 295.15944019553524, + -376.753655187348, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 293.65944019553524, + -374.1555789759947, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 292.15944019553524, + -371.55750276464136, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 290.65944019553524, + -368.95942655328804, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 289.15944019553524, + -366.3613503419347, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 287.65944019553524, + -363.7632741305814, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 286.15944019553524, + -361.1651979192281, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 284.65944019553524, + -358.5671217078748, + -1.259209844588919 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 284.65944019553524, + -358.5671217078748, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 284.65944019553524, + -355.5671217078748, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 284.65944019553524, + -352.5671217078748, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 284.65944019553524, + -349.5671217078748, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 284.65944019553524, + -346.5671217078748, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 284.65944019553524, + -343.5671217078748, + -1.259209844588919 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 284.65944019553524, + -343.5671217078748, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 286.15944019553524, + -340.96904549652146, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 287.65944019553524, + -338.37096928516814, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.15944019553524, + -335.7728930738148, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 290.65944019553524, + -333.1748168624615, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 292.15944019553524, + -330.5767406511082, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 293.65944019553524, + -327.9786644397549, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 295.15944019553524, + -325.38058822840156, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 296.65944019553524, + -322.78251201704825, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 298.15944019553524, + -320.18443580569493, + -1.259209844588919 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 298.15944019553524, + -320.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 300.75751640688856, + -318.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 303.35559261824187, + -317.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 305.9536688295952, + -315.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 308.5517450409485, + -314.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 311.1498212523018, + -312.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 313.74789746365514, + -311.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 316.34597367500845, + -309.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 318.94404988636177, + -308.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 321.5421260977151, + -306.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 324.1402023090684, + -305.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 326.7382785204217, + -303.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 329.33635473177503, + -302.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 331.93443094312835, + -300.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 334.53250715448166, + -299.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 337.130583365835, + -297.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 339.7286595771883, + -296.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 342.3267357885416, + -294.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 344.9248119998949, + -293.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 347.52288821124824, + -291.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 350.12096442260156, + -290.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 352.7190406339549, + -288.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 355.3171168453082, + -287.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 357.9151930566615, + -285.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 360.5132692680148, + -284.18443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 363.11134547936814, + -282.68443580569493, + -1.259209844588919 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 365.70942169072146, + -281.18443580569493, + -1.259209844588919 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-48-25_612203759/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-48-25_612203759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da97917861736b66365f65dbaea40b69c2130a0a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-48-25_612203759/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 736.4344195377304, + 29.505366340821197, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 734.9344195377304, + 26.90729012946788, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 733.4344195377304, + 24.309213918114565, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 731.9344195377304, + 21.71113770676125, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 730.4344195377304, + 19.113061495407933, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 728.9344195377304, + 16.514985284054617, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 727.4344195377304, + 13.916909072701301, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 725.9344195377304, + 11.318832861347985, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 724.4344195377304, + 8.72075664999467, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 722.9344195377304, + 6.122680438641353, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 721.4344195377304, + 3.5246042272880374, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 719.9344195377304, + 0.9265280159347213, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 718.4344195377304, + -1.6715481954185947, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 716.9344195377304, + -4.269624406771911, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 715.4344195377304, + -6.867700618125227, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 713.9344195377304, + -9.465776829478543, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 712.4344195377304, + -12.063853040831859, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 710.9344195377304, + -14.661929252185175, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 709.4344195377304, + -17.26000546353849, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 707.9344195377304, + -19.858081674891807, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 706.4344195377304, + -22.456157886245123, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 704.9344195377304, + -25.05423409759844, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 703.4344195377304, + -27.652310308951755, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 701.9344195377304, + -30.25038652030507, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 700.4344195377304, + -32.84846273165839, + -1.0768228327081788 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 700.4344195377304, + -32.84846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 697.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 697.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589784 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 694.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": -3.141592653589784 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 694.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 694.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 694.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 694.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965885 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 694.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982898 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 694.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 697.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 700.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 703.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 706.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 709.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 712.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 715.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 718.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 721.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 724.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 727.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 730.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 733.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 736.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 739.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 742.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 745.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 748.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 751.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 754.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 757.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 760.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 763.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 766.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 766.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 766.8363433263771, + -34.34846273165839, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 768.3363433263771, + -31.75038652030507, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 769.8363433263771, + -29.152310308951755, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 771.3363433263771, + -26.55423409759844, + -1.0768228327081788 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 771.3363433263771, + -26.55423409759844, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 773.9344195377305, + -25.05423409759844, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 776.5324957490839, + -23.55423409759844, + -1.0768228327081788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 779.1305719604372, + -22.05423409759844, + -1.0768228327081788 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-49-31_366831742/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-49-31_366831742/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..157c6b8c91e8be9909cb728bf093f879f76d9d38 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-49-31_366831742/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -295.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -292.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -289.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -283.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -280.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -277.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -274.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -271.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -268.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -265.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -262.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -259.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -256.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -253.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -250.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -247.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -244.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -241.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -238.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -235.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -232.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -232.6330691766451, + -140.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -230.0349929652918, + -142.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -227.43691675393848, + -143.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -224.83884054258516, + -145.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -222.24076433123184, + -146.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -219.64268811987853, + -148.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -217.0446119085252, + -149.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -214.4465356971719, + -151.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -211.84845948581858, + -152.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -209.25038327446526, + -154.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -206.65230706311195, + -155.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -204.05423085175863, + -157.1345242354643, + -1.775732601373127 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -204.05423085175863, + -157.1345242354643, + -1.775732601373127 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -204.05423085175863, + -157.1345242354643, + -1.775732601373127 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -204.05423085175863, + -157.1345242354643, + -1.775732601373127 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -204.05423085175863, + -157.1345242354643, + -1.775732601373127 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -204.05423085175863, + -157.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -206.65230706311195, + -158.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -209.25038327446526, + -160.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -211.84845948581858, + -161.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -214.4465356971719, + -163.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -217.0446119085252, + -164.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -219.64268811987853, + -166.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -222.24076433123184, + -167.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -224.83884054258516, + -169.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -227.43691675393848, + -170.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -230.0349929652918, + -172.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -232.6330691766451, + -173.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -235.23114538799842, + -175.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -237.82922159935174, + -176.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -240.42729781070506, + -178.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -243.02537402205837, + -179.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -245.6234502334117, + -181.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -248.221526444765, + -182.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -250.81960265611832, + -184.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -253.41767886747164, + -185.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -256.01575507882495, + -187.1345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -258.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -258.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -261.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -264.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -267.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -270.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -273.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -276.61383129017827, + -188.6345242354643, + -1.775732601373127 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-5-7_1137638147/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-5-7_1137638147/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a1615671fc6a58346c0c221298a2a3ddf5d3ec4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-5-7_1137638147/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -87.900342026842, + -653.682701365637, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -89.400342026842, + -656.2807775769902, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -90.900342026842, + -658.8788537883436, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -92.400342026842, + -661.476929999697, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -93.900342026842, + -664.0750062110503, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -95.400342026842, + -666.6730824224037, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -96.900342026842, + -669.2711586337571, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.400342026842, + -671.8692348451104, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -99.900342026842, + -674.4673110564638, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -101.400342026842, + -677.0653872678172, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -102.900342026842, + -679.6634634791706, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -104.400342026842, + -682.2615396905239, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -105.900342026842, + -684.8596159018773, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.400342026842, + -687.4576921132307, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -108.900342026842, + -690.055768324584, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -110.400342026842, + -692.6538445359374, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -111.900342026842, + -695.2519207472908, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -113.400342026842, + -697.8499969586442, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -114.900342026842, + -700.4480731699975, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -116.400342026842, + -703.0461493813509, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -117.900342026842, + -705.6442255927043, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -119.400342026842, + -708.2423018040577, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -120.900342026842, + -710.840378015411, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -122.400342026842, + -713.4384542267644, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -123.900342026842, + -716.0365304381178, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -125.400342026842, + -718.6346066494712, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -126.900342026842, + -721.2326828608245, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -128.400342026842, + -723.8307590721779, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -129.900342026842, + -726.4288352835313, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -131.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -131.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -131.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -131.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -131.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -128.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -125.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -122.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -119.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -116.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -113.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -110.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -107.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -104.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -101.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -98.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -95.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -92.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -89.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -86.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -83.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -80.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -77.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -74.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -71.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -68.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -65.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -62.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -59.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -56.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -53.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -50.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -47.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -44.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -41.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -38.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -35.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -32.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -32.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -32.400342026842, + -729.0269114948846, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -30.900342026841997, + -726.4288352835313, + -1.2129171699956922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -29.400342026841997, + -723.8307590721779, + -1.2129171699956922 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-52-52_1368062958/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-52-52_1368062958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e70536ad74011116f5603880192ed7fef76a7b7a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-52-52_1368062958/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 306.7826407788875, + 348.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 306.7826407788875, + 345.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 306.7826407788875, + 342.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 306.7826407788875, + 339.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 306.7826407788875, + 336.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 306.7826407788875, + 333.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.7826407788875, + 330.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 306.7826407788875, + 327.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.7826407788875, + 324.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 306.7826407788875, + 321.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 306.7826407788875, + 318.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 306.7826407788875, + 315.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.7826407788875, + 312.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 306.7826407788875, + 309.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 306.7826407788875, + 306.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 306.7826407788875, + 303.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 306.7826407788875, + 300.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 306.7826407788875, + 297.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 306.7826407788875, + 294.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 306.7826407788875, + 291.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 306.7826407788875, + 288.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 306.7826407788875, + 285.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 306.7826407788875, + 282.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 306.7826407788875, + 279.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 306.7826407788875, + 276.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 306.7826407788875, + 273.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.7826407788875, + 270.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 306.7826407788875, + 267.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.7826407788875, + 264.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 306.7826407788875, + 261.2239302676945, + 0.7924680910262047 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 306.7826407788875, + 261.2239302676945, + 0.7924680910262047 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 306.7826407788875, + 261.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 309.38071699024084, + 259.7239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 311.97879320159416, + 258.2239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 314.5768694129475, + 256.7239302676945, + 0.7924680910262047 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 314.5768694129475, + 256.7239302676945, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 316.0768694129475, + 254.1258540563412, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 317.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 317.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 317.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 317.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 320.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 323.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 326.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 329.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 332.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 335.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 338.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 341.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 344.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 347.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 350.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 353.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 356.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 359.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 362.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 365.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 368.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 371.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 371.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 371.5768694129475, + 251.5277778449879, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 373.0768694129475, + 248.92970163363458, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 374.5768694129475, + 246.33162542228126, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 376.0768694129475, + 243.73354921092795, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 377.5768694129475, + 241.13547299957463, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 379.0768694129475, + 238.53739678822132, + 0.7924680910262047 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 379.0768694129475, + 238.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 381.6749456243008, + 237.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 384.2730218356541, + 235.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 386.8710980470074, + 234.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 389.46917425836074, + 232.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 392.06725046971405, + 231.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 394.66532668106737, + 229.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 397.2634028924207, + 228.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 399.861479103774, + 226.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 402.4595553151273, + 225.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 405.05763152648063, + 223.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 407.65570773783395, + 222.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 410.25378394918727, + 220.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 412.8518601605406, + 219.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 415.4499363718939, + 217.53739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 418.0480125832472, + 216.03739678822132, + 0.7924680910262047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 420.64608879460053, + 214.53739678822132, + 0.7924680910262047 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-53-29_1064651899/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-53-29_1064651899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19cb43a0dd6c7dff7494ee7691ce3e7b268017b1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-53-29_1064651899/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 181.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 184.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 187.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 190.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 193.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 196.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 199.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 202.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 205.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 208.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 211.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 214.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 217.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 220.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 223.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 226.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 226.54129099906157, + -70.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 229.1393672104149, + -71.61618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 231.7374434217682, + -73.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 234.33551963312152, + -74.61618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 236.93359584447484, + -76.11618292376154, + -3.434992806179772 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 236.93359584447484, + -76.11618292376154, + -3.434992806179772 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 236.93359584447484, + -76.11618292376154, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 238.43359584447484, + -78.71425913511486, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 239.93359584447484, + -81.31233534646817, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 241.43359584447484, + -83.91041155782149, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 242.93359584447484, + -86.5084877691748, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 244.43359584447484, + -89.10656398052812, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 245.93359584447484, + -91.70464019188144, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 247.43359584447484, + -94.30271640323475, + -3.434992806179772 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 247.43359584447484, + -94.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 250.03167205582815, + -95.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 252.62974826718147, + -97.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 255.22782447853479, + -98.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 257.8259006898881, + -100.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 260.4239769012414, + -101.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 263.02205311259473, + -103.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 265.62012932394805, + -104.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 268.21820553530137, + -106.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 270.8162817466547, + -107.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 273.414357958008, + -109.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 276.0124341693613, + -110.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 278.61051038071463, + -112.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 281.20858659206795, + -113.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 283.80666280342126, + -115.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 286.4047390147746, + -116.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 289.0028152261279, + -118.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 291.6008914374812, + -119.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 294.1989676488345, + -121.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 296.79704386018784, + -122.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 299.39512007154116, + -124.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 301.9931962828945, + -125.80271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 304.5912724942478, + -127.30271640323475, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 307.1893487056011, + -128.80271640323474, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982947 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 309.7874249169544, + -130.30271640323474, + -3.434992806179772 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 312.38550112830774, + -131.80271640323474, + -3.434992806179772 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-54-33_1346941484/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-54-33_1346941484/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79b30c005956d815e1edf140290a6f71a88b3cb4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-54-33_1346941484/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 529.3841200570434, + -319.9797822176132, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 527.8841200570434, + -317.3817060062599, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 526.3841200570434, + -314.7836297949066, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 524.8841200570434, + -312.18555358355326, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 523.3841200570434, + -309.58747737219994, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 521.8841200570434, + -306.9894011608466, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 520.3841200570434, + -304.3913249494933, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 518.8841200570434, + -301.79324873814, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 517.3841200570434, + -299.1951725267867, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 515.8841200570434, + -296.59709631543336, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 514.3841200570434, + -293.99902010408005, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 512.8841200570434, + -291.40094389272673, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 511.38412005704345, + -288.8028676813734, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 509.88412005704345, + -286.2047914700201, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 508.38412005704345, + -283.6067152586668, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 506.88412005704345, + -281.00863904731347, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 505.38412005704345, + -278.41056283596015, + -2.5704215743062044 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 505.38412005704345, + -278.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 505.38412005704345, + -275.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 505.38412005704345, + -272.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 505.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 505.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 505.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 505.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 505.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 502.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 499.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 496.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 493.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 490.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 487.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 484.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 481.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 478.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 475.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 472.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 469.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 466.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 463.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 460.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 457.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 454.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 451.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 448.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 448.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 448.38412005704345, + -269.41056283596015, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 446.88412005704345, + -266.81248662460683, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 445.38412005704345, + -264.2144104132535, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 443.88412005704345, + -261.6163342019002, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 442.38412005704345, + -259.0182579905469, + -2.5704215743062044 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 440.88412005704345, + -256.42018177919357, + -2.5704215743062044 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-54-59_628257755/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-54-59_628257755/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7cb09a34e9ca3fabf2cf9acc945bdd16c2fa2445 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-54-59_628257755/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1001.2213376643324, + -318.34088227496596, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 999.7213376643324, + -320.9389584863193, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 998.2213376643324, + -323.5370346976726, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 996.7213376643324, + -326.1351109090259, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 995.2213376643324, + -328.7331871203792, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 993.7213376643324, + -331.33126333173254, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 992.2213376643324, + -333.92933954308586, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 990.7213376643324, + -336.5274157544392, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 989.2213376643324, + -339.1254919657925, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 987.7213376643324, + -341.7235681771458, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 986.2213376643324, + -344.3216443884991, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 984.7213376643324, + -346.91972059985244, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 983.2213376643324, + -349.51779681120576, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 981.7213376643324, + -352.11587302255907, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 980.2213376643324, + -354.7139492339124, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 978.7213376643324, + -357.3120254452657, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 977.2213376643324, + -359.910101656619, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 975.7213376643324, + -362.50817786797234, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 974.2213376643324, + -365.10625407932565, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 972.7213376643324, + -367.70433029067897, + 1.852842050937559 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 972.7213376643324, + -367.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 970.123261452979, + -369.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 967.5251852416256, + -370.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 964.9271090302723, + -372.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 962.3290328189189, + -373.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 959.7309566075655, + -375.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 957.1328803962122, + -376.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 954.5348041848588, + -378.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 951.9367279735054, + -379.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 949.338651762152, + -381.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 946.7405755507987, + -382.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 944.1424993394453, + -384.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 941.5444231280919, + -385.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 938.9463469167385, + -387.20433029067897, + 1.852842050937559 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 938.9463469167385, + -387.20433029067897, + 1.852842050937559 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 938.9463469167385, + -387.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 938.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 938.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 938.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 938.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "turn left", + "value": 30, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 938.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 935.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 932.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 929.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 926.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 923.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 920.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 917.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 914.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 911.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 908.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 905.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 902.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 899.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 896.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 893.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 890.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 887.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 884.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 881.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 881.9463469167385, + -390.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 879.3482707053852, + -391.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 876.7501944940318, + -393.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 874.1521182826784, + -394.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 871.5540420713251, + -396.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 868.9559658599717, + -397.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 866.3578896486183, + -399.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 863.7598134372649, + -400.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 861.1617372259116, + -402.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 858.5636610145582, + -403.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 855.9655848032048, + -405.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 853.3675085918514, + -406.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 850.7694323804981, + -408.20433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 848.1713561691447, + -409.70433029067897, + 1.852842050937559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 845.5732799577913, + -411.20433029067897, + 1.852842050937559 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-58-58_547772603/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-58-58_547772603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a8773719253d69dd19da0f77973563d63bec6d8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-58-58_547772603/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -9.916761082258471, + -497.14275965463315, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -8.416761082258471, + -499.74083586598647, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -6.916761082258471, + -502.3389120773398, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -5.416761082258471, + -504.9369882886931, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -3.916761082258471, + -507.5350645000464, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2.4167610822584704, + -510.13314071139973, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -0.91676108225847, + -512.731216922753, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 0.5832389177415305, + -515.3292931341064, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2.083238917741531, + -517.9273693454597, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3.5832389177415314, + -520.5254455568131, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 5.083238917741532, + -523.1235217681665, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196607 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 6.583238917741532, + -525.7215979795199, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.083238917741532, + -528.3196741908732, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 9.583238917741532, + -530.9177504022266, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 11.083238917741532, + -533.51582661358, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 12.583238917741532, + -536.1139028249333, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 14.083238917741532, + -538.7119790362867, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 15.583238917741532, + -541.3100552476401, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 17.083238917741532, + -543.9081314589935, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 18.583238917741532, + -546.5062076703468, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 20.083238917741532, + -549.1042838817002, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 21.583238917741532, + -551.7023600930536, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 23.083238917741532, + -554.300436304407, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 24.583238917741532, + -556.8985125157603, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 26.083238917741532, + -559.4965887271137, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 27.583238917741532, + -562.0946649384671, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 29.083238917741532, + -564.6927411498204, + 3.1381681313451146 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 29.083238917741532, + -564.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 29.083238917741532, + -567.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 29.083238917741532, + -570.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 29.083238917741532, + -573.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 29.083238917741532, + -576.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 29.083238917741532, + -579.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 29.083238917741532, + -582.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 29.083238917741532, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 29.083238917741532, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 29.083238917741532, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 29.083238917741532, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 29.083238917741532, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 32.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 35.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 38.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 41.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 44.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 47.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 50.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 53.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 56.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 56.08323891774153, + -585.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 58.68131512909485, + -584.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 61.279391340448164, + -582.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 63.87746755180148, + -581.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 66.4755437631548, + -579.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982977 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 69.07361997450812, + -578.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 71.67169618586144, + -576.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 74.26977239721475, + -575.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 76.86784860856807, + -573.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 79.46592481992138, + -572.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 82.0640010312747, + -570.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 84.66207724262802, + -569.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 87.26015345398133, + -567.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 89.85822966533465, + -566.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 92.45630587668796, + -564.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 95.05438208804128, + -563.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 97.6524582993946, + -561.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 100.25053451074791, + -560.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 102.84861072210123, + -558.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 105.44668693345454, + -557.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 108.04476314480786, + -555.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 110.64283935616118, + -554.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 113.24091556751449, + -552.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 115.83899177886781, + -551.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 118.43706799022112, + -549.6927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 121.03514420157444, + -548.1927411498204, + 3.1381681313451146 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 123.63322041292776, + -546.6927411498204, + 3.1381681313451146 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-59-33_1238138000/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-59-33_1238138000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8a9a7a757f76573080732d56c19a5084ccee3c7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_14-59-33_1238138000/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 340.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 343.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 346.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 352.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 355.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 358.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 361.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 364.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 367.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 373.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 376.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 379.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 382.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 385.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 388.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 391.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 394.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 397.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 400.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 403.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 406.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 409.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 412.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 412.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 412.78254854224303, + 202.6501627696723, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 414.28254854224303, + 205.24823898102562, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 415.78254854224303, + 207.84631519237894, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 417.28254854224303, + 210.44439140373225, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 418.78254854224303, + 213.04246761508557, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 420.28254854224303, + 215.6405438264389, + -2.052079492808571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 420.28254854224303, + 215.6405438264389, + -2.052079492808571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 420.28254854224303, + 215.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 422.88062475359635, + 217.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 425.47870096494967, + 218.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 428.076777176303, + 220.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 430.6748533876563, + 221.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 433.2729295990096, + 223.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 435.87100581036293, + 224.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 438.46908202171625, + 226.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 441.06715823306956, + 227.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 443.6652344444229, + 229.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 446.2633106557762, + 230.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 448.8613868671295, + 232.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 451.4594630784828, + 233.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 454.05753928983614, + 235.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 456.65561550118946, + 236.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 459.2536917125428, + 238.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 461.8517679238961, + 239.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 464.4498441352494, + 241.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 467.0479203466027, + 242.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 469.64599655795604, + 244.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 472.24407276930935, + 245.6405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 474.84214898066267, + 247.1405438264389, + -2.052079492808571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 474.84214898066267, + 247.1405438264389, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 476.34214898066267, + 249.7386200377922, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 477.84214898066267, + 252.33669624914552, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 479.34214898066267, + 254.93477246049883, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 480.84214898066267, + 257.53284867185215, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 482.34214898066267, + 260.13092488320547, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 483.84214898066267, + 262.7290010945588, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 485.34214898066267, + 265.3270773059121, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 486.84214898066267, + 267.9251535172654, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 488.34214898066267, + 270.52322972861873, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 489.84214898066267, + 273.12130593997205, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 491.34214898066267, + 275.71938215132536, + -2.052079492808571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 491.34214898066267, + 275.71938215132536, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 493.940225192016, + 277.21938215132536, + -2.052079492808571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 496.5383014033693, + 278.71938215132536, + -2.052079492808571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-12-9_964263748/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-12-9_964263748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9224cbe20fa9bcbe115321f23cd24712a140cf54 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-12-9_964263748/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 792.6636188359823, + -519.4154722248712, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 794.1636188359823, + -516.817396013518, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 795.6636188359823, + -514.2193198021646, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 797.1636188359823, + -511.6212435908113, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 798.6636188359823, + -509.02316737945796, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 800.1636188359823, + -506.42509116810464, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 801.6636188359823, + -503.8270149567513, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 803.1636188359823, + -501.228938745398, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 804.6636188359823, + -498.6308625340447, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 806.1636188359823, + -496.0327863226914, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 807.6636188359823, + -493.43471011133806, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 809.1636188359823, + -490.83663389998475, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 810.6636188359823, + -488.23855768863143, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 812.1636188359823, + -485.6404814772781, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 813.6636188359823, + -483.0424052659248, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 815.1636188359823, + -480.4443290545715, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 816.6636188359823, + -477.84625284321817, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 818.1636188359823, + -475.24817663186485, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 819.6636188359823, + -472.65010042051154, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 821.1636188359823, + -470.0520242091582, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 822.6636188359823, + -467.4539479978049, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 824.1636188359823, + -464.8558717864516, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 825.6636188359823, + -462.25779557509827, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 827.1636188359823, + -459.65971936374495, + 0.8275821321649648 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 827.1636188359823, + -459.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 827.1636188359823, + -456.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 827.1636188359823, + -453.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 827.1636188359823, + -450.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 827.1636188359823, + -447.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 827.1636188359823, + -444.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 827.1636188359823, + -441.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 827.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 827.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 827.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 827.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 827.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 830.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 833.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 836.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 839.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 842.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 845.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 848.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 851.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 854.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 857.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 860.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 863.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 863.1636188359823, + -438.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 865.7616950473357, + -437.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 868.3597712586891, + -435.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 870.9578474700425, + -434.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 873.5559236813958, + -432.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 876.1539998927492, + -431.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 878.7520761041026, + -429.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 881.350152315456, + -428.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 883.9482285268093, + -426.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 886.5463047381627, + -425.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 889.1443809495161, + -423.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 891.7424571608694, + -422.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 894.3405333722228, + -420.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 896.9386095835762, + -419.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 899.5366857949296, + -417.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 902.1347620062829, + -416.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 904.7328382176363, + -414.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 907.3309144289897, + -413.15971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 909.928990640343, + -411.65971936374495, + 0.8275821321649648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 912.5270668516964, + -410.15971936374495, + 0.8275821321649648 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-13-16_1182176620/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-13-16_1182176620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f1b9d24a5857a1b46291da405cf9e3995b32c73 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-13-16_1182176620/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 326.46558730906565, + -384.73736086746834, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 327.96558730906565, + -382.139284656115, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 329.46558730906565, + -379.5412084447617, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 330.96558730906565, + -376.9431322334084, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 332.46558730906565, + -374.3450560220551, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 333.96558730906565, + -371.74697981070176, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 335.46558730906565, + -369.14890359934844, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 336.96558730906565, + -366.5508273879951, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 338.46558730906565, + -363.9527511766418, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 339.96558730906565, + -361.3546749652885, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 341.46558730906565, + -358.7565987539352, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 342.96558730906565, + -356.15852254258186, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 344.46558730906565, + -353.56044633122855, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.96558730906565, + -350.96237011987523, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 347.46558730906565, + -348.3642939085219, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 348.96558730906565, + -345.7662176971686, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.46558730906565, + -343.1681414858153, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 351.96558730906565, + -340.57006527446197, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.46558730906565, + -337.97198906310865, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 354.96558730906565, + -335.37391285175534, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 356.46558730906565, + -332.775836640402, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 357.96558730906565, + -330.1777604290487, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 359.46558730906565, + -327.5796842176954, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 360.96558730906565, + -324.98160800634207, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 362.46558730906565, + -322.38353179498876, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 363.96558730906565, + -319.78545558363544, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 365.46558730906565, + -317.1873793722821, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 366.96558730906565, + -314.5893031609288, + 3.936270641239746 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 366.96558730906565, + -314.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 366.96558730906565, + -311.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 366.96558730906565, + -308.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 366.96558730906565, + -305.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 366.96558730906565, + -302.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 366.96558730906565, + -299.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 366.96558730906565, + -296.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 366.96558730906565, + -293.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 366.96558730906565, + -290.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 366.96558730906565, + -287.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 366.96558730906565, + -284.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 366.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 366.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 366.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 366.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 366.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 369.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 372.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 375.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 378.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 381.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 384.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 387.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 390.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 393.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 396.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 399.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 402.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 405.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 408.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 411.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 414.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 417.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 417.96558730906565, + -281.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 420.56366352041897, + -283.0893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 423.1617397317723, + -284.5893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 425.7598159431256, + -286.0893031609288, + 3.936270641239746 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 425.7598159431256, + -286.0893031609288, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 427.2598159431256, + -288.6873793722821, + 3.936270641239746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 428.7598159431256, + -291.28545558363544, + 3.936270641239746 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-13-48_1955769409/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-13-48_1955769409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..922f0074885df693298e4f9bbf4bc04d4e0a2efe --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-13-48_1955769409/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1273.4536938000995, + -136.14848900180937, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1274.9536938000995, + -138.74656521316268, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1276.4536938000995, + -141.344641424516, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1277.9536938000995, + -143.94271763586931, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1279.4536938000995, + -146.54079384722263, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1280.9536938000995, + -149.13887005857595, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1282.4536938000995, + -151.73694626992926, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1283.9536938000995, + -154.33502248128258, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1285.4536938000995, + -156.9330986926359, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1286.9536938000995, + -159.5311749039892, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1288.4536938000995, + -162.12925111534253, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1289.9536938000995, + -164.72732732669584, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1291.4536938000995, + -167.32540353804916, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1292.9536938000995, + -169.92347974940247, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1294.4536938000995, + -172.5215559607558, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1295.9536938000995, + -175.1196321721091, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1297.4536938000995, + -177.71770838346242, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1298.9536938000995, + -180.31578459481574, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1300.4536938000995, + -182.91386080616905, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1301.9536938000995, + -185.51193701752237, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1303.4536938000995, + -188.1100132288757, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1304.9536938000995, + -190.708089440229, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1306.4536938000995, + -193.30616565158232, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1307.9536938000995, + -195.90424186293563, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1309.4536938000995, + -198.50231807428895, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1310.9536938000995, + -201.10039428564227, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1312.4536938000995, + -203.69847049699558, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1313.9536938000995, + -206.2965467083489, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1315.4536938000995, + -208.89462291970221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1316.9536938000995, + -211.49269913105553, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1318.4536938000995, + -214.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1319.9536938000995, + -216.68885155376216, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1321.4536938000995, + -219.28692776511548, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1322.9536938000995, + -221.8850039764688, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1324.4536938000995, + -224.4830801878221, + -4.5049734892728255 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1324.4536938000995, + -224.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1327.0517700114528, + -225.9830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1329.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1329.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1332.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1335.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1338.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1341.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1344.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1347.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1350.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1353.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1356.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1359.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1362.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1365.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1368.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1371.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1371.6498462228062, + -227.4830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1374.2479224341596, + -225.9830801878221, + -4.5049734892728255 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1374.2479224341596, + -225.9830801878221, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1375.7479224341596, + -223.3850039764688, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1377.2479224341596, + -220.78692776511548, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1378.7479224341596, + -218.18885155376216, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1380.2479224341596, + -215.59077534240885, + -4.5049734892728255 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1380.2479224341596, + -215.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1382.845998645513, + -214.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1385.4440748568663, + -212.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1388.0421510682197, + -211.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1390.640227279573, + -209.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1393.2383034909265, + -208.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1395.8363797022798, + -206.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1398.4344559136332, + -205.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1401.0325321249866, + -203.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1403.63060833634, + -202.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1406.2286845476933, + -200.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1408.8267607590467, + -199.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1411.4248369704, + -197.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1414.0229131817534, + -196.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1416.6209893931068, + -194.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1419.2190656044602, + -193.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1421.8171418158136, + -191.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1424.415218027167, + -190.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1427.0132942385203, + -188.59077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1429.6113704498737, + -187.09077534240885, + -4.5049734892728255 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1429.6113704498737, + -187.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1432.6113704498737, + -187.09077534240885, + -4.5049734892728255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1435.6113704498737, + -187.09077534240885, + -4.5049734892728255 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-19-29_1189914410/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-19-29_1189914410/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b4eee40f4ec895d5471fa92531b607bda1d46bc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-19-29_1189914410/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 234.7666010835486, + 292.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 234.7666010835486, + 289.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 234.7666010835486, + 286.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 234.7666010835486, + 283.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 234.7666010835486, + 280.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 234.7666010835486, + 277.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 234.7666010835486, + 274.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 234.7666010835486, + 271.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 234.7666010835486, + 268.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 234.7666010835486, + 265.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 234.7666010835486, + 262.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 234.7666010835486, + 259.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 234.7666010835486, + 256.534084597898, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 234.7666010835486, + 253.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 234.7666010835486, + 250.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 234.7666010835486, + 247.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 234.7666010835486, + 244.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 234.7666010835486, + 241.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 234.7666010835486, + 238.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 234.7666010835486, + 235.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 234.7666010835486, + 232.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 234.7666010835486, + 229.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 234.7666010835486, + 226.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 234.7666010835486, + 223.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 234.7666010835486, + 220.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 234.7666010835486, + 217.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 234.7666010835486, + 214.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 234.7666010835486, + 211.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 234.7666010835486, + 208.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 234.7666010835486, + 205.53408459789802, + -0.49129079142986853 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 234.7666010835486, + 205.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 236.2666010835486, + 202.9360083865447, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 237.7666010835486, + 200.33793217519138, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 239.2666010835486, + 197.73985596383807, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 240.7666010835486, + 195.14177975248475, + -0.49129079142986853 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 240.7666010835486, + 195.14177975248475, + -0.49129079142986853 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 240.7666010835486, + 195.14177975248475, + -0.49129079142986853 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 240.7666010835486, + 195.14177975248475, + -0.49129079142986853 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 240.7666010835486, + 195.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 243.36467729490192, + 196.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 245.96275350625524, + 198.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 248.56082971760856, + 199.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 251.15890592896187, + 201.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 253.7569821403152, + 202.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 256.3550583516685, + 204.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 258.9531345630218, + 205.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 261.55121077437514, + 207.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 264.14928698572845, + 208.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 266.74736319708177, + 210.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 269.3454394084351, + 211.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 271.9435156197884, + 213.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 274.5415918311417, + 214.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 277.13966804249503, + 216.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 279.73774425384835, + 217.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 282.33582046520166, + 219.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 284.933896676555, + 220.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 287.5319728879083, + 222.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 290.1300490992616, + 223.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 292.7281253106149, + 225.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 295.32620152196824, + 226.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 297.92427773332156, + 228.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 300.5223539446749, + 229.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 303.1204301560282, + 231.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 305.7185063673815, + 232.64177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 308.3165825787348, + 234.14177975248475, + -0.49129079142986853 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 308.3165825787348, + 234.14177975248475, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 309.8165825787348, + 236.73985596383807, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 311.3165825787348, + 239.33793217519138, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 312.8165825787348, + 241.9360083865447, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 314.3165825787348, + 244.53408459789802, + -0.49129079142986853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 315.8165825787348, + 247.13216080925133, + -0.49129079142986853 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-21-46_1566586128/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-21-46_1566586128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49d61fc4f390fc9110cb9028cc48ea03c8b0cb5b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-21-46_1566586128/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -41.45529494756329, + -510.0009256392012, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -39.95529494756329, + -512.5990018505545, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -38.45529494756329, + -515.1970780619079, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -36.95529494756329, + -517.7951542732612, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -35.45529494756329, + -520.3932304846146, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -33.95529494756329, + -522.991306695968, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -32.45529494756329, + -525.5893829073214, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -30.95529494756329, + -528.1874591186747, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -29.45529494756329, + -530.7855353300281, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -27.95529494756329, + -533.3836115413815, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -26.45529494756329, + -535.9816877527348, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -24.95529494756329, + -538.5797639640882, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -23.45529494756329, + -541.1778401754416, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -21.95529494756329, + -543.775916386795, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -20.45529494756329, + -546.3739925981483, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.95529494756329, + -548.9720688095017, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -17.45529494756329, + -551.5701450208551, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -15.955294947563289, + -554.1682212322085, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -14.455294947563289, + -556.7662974435618, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -12.955294947563289, + -559.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -11.455294947563289, + -561.9624498662686, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -9.955294947563289, + -564.560526077622, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -8.455294947563289, + -567.1586022889753, + 3.9074510570380365 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -8.455294947563289, + -567.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -5.857218736209973, + -568.6586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -3.2591425248566566, + -570.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -0.6610663135033406, + -571.6586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1.9370098978499755, + -573.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4.5350861092032915, + -574.6586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 7.1331623205566075, + -576.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 9.731238531909923, + -577.6586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 12.32931474326324, + -579.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 14.927390954616556, + -580.6586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 17.52546716596987, + -582.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 20.123543377323188, + -583.6586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 22.721619588676504, + -585.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 25.31969580002982, + -586.6586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 27.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 27.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 27.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 30.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 33.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 36.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 39.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 42.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 45.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 48.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 51.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 54.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 57.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 60.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 63.917772011383136, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 66.91777201138314, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 66.91777201138314, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 66.91777201138314, + -588.1586022889753, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 68.41777201138314, + -585.560526077622, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 69.91777201138314, + -582.9624498662686, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 71.41777201138314, + -580.3643736549152, + 3.9074510570380365 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 71.41777201138314, + -580.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 74.01584822273645, + -578.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 76.61392443408977, + -577.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 79.21200064544308, + -575.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 81.8100768567964, + -574.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 84.40815306814972, + -572.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 87.00622927950303, + -571.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 89.60430549085635, + -569.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 92.20238170220966, + -568.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 94.80045791356298, + -566.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 97.3985341249163, + -565.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 99.99661033626961, + -563.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 102.59468654762293, + -562.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 105.19276275897624, + -560.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 107.79083897032956, + -559.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 110.38891518168288, + -557.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 112.98699139303619, + -556.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 115.58506760438951, + -554.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 118.18314381574282, + -553.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 120.78122002709614, + -551.8643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 123.37929623844946, + -550.3643736549152, + 3.9074510570380365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 125.97737244980277, + -548.8643736549152, + 3.9074510570380365 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-6-25_1758179117/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-6-25_1758179117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60d88726c0e149bea8cc7bce5481f376a4ca9b4a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-6-25_1758179117/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 532.1681935299285, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 529.1681935299285, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 526.1681935299285, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 523.1681935299285, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 520.1681935299285, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 517.1681935299285, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 514.1681935299285, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 511.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 508.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 505.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 502.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 499.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 496.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 490.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 487.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 484.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 481.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 478.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 475.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 472.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 469.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 466.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 463.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 460.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 457.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 454.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 451.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 451.16819352992854, + -504.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 448.5701173185752, + -503.38492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 445.9720411072219, + -501.88492762355156, + 3.218833936307586 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 445.9720411072219, + -501.88492762355156, + 3.218833936307586 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 445.9720411072219, + -501.88492762355156, + 3.218833936307586 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 445.9720411072219, + -501.88492762355156, + 3.218833936307586 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 445.9720411072219, + -501.88492762355156, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 447.4720411072219, + -499.28685141219825, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 448.9720411072219, + -496.68877520084493, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 450.4720411072219, + -494.0906989894916, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 451.9720411072219, + -491.4926227781383, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 453.4720411072219, + -488.894546566785, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 454.9720411072219, + -486.29647035543167, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 456.4720411072219, + -483.69839414407835, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 457.9720411072219, + -481.10031793272503, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 459.4720411072219, + -478.5022417213717, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 460.9720411072219, + -475.9041655100184, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 462.4720411072219, + -473.3060892986651, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 463.9720411072219, + -470.70801308731177, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 465.4720411072219, + -468.10993687595845, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 466.9720411072219, + -465.51186066460514, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 468.4720411072219, + -462.9137844532518, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 469.9720411072219, + -460.3157082418985, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 471.4720411072219, + -457.7176320305452, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 472.9720411072219, + -455.1195558191919, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 474.4720411072219, + -452.52147960783856, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 475.9720411072219, + -449.92340339648524, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 477.4720411072219, + -447.3253271851319, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 478.9720411072219, + -444.7272509737786, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 480.4720411072219, + -442.1291747624253, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 481.9720411072219, + -439.531098551072, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 483.4720411072219, + -436.93302233971866, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 484.9720411072219, + -434.33494612836535, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 486.4720411072219, + -431.73686991701203, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 487.9720411072219, + -429.1387937056587, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 489.4720411072219, + -426.5407174943054, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 490.9720411072219, + -423.9426412829521, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 492.4720411072219, + -421.34456507159877, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 493.9720411072219, + -418.74648886024545, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 495.4720411072219, + -416.14841264889213, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 496.9720411072219, + -413.5503364375388, + 3.218833936307586 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 496.9720411072219, + -413.5503364375388, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 496.9720411072219, + -410.5503364375388, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 496.9720411072219, + -407.5503364375388, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 496.9720411072219, + -404.5503364375388, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 496.9720411072219, + -401.5503364375388, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 496.9720411072219, + -398.5503364375388, + 3.218833936307586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 496.9720411072219, + -395.5503364375388, + 3.218833936307586 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-8-53_1173059560/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-8-53_1173059560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebcca7aef6810e2cca394c2d5e929cc051610373 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-8-53_1173059560/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -212.7946352915014, + 15.207276445726912, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -214.2946352915014, + 12.609200234373596, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -215.7946352915014, + 10.01112402302028, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -217.2946352915014, + 7.413047811666964, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -218.7946352915014, + 4.814971600313648, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -220.2946352915014, + 2.2168953889603316, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -221.7946352915014, + -0.38118082239298445, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -223.2946352915014, + -2.9792570337463005, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -224.7946352915014, + -5.5773332450996165, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -226.2946352915014, + -8.175409456452932, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -227.7946352915014, + -10.773485667806249, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -229.2946352915014, + -13.371561879159565, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -230.7946352915014, + -15.96963809051288, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -232.2946352915014, + -18.567714301866197, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -233.7946352915014, + -21.165790513219513, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -235.2946352915014, + -23.76386672457283, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -236.7946352915014, + -26.361942935926145, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -238.2946352915014, + -28.96001914727946, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -239.7946352915014, + -31.558095358632777, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -241.2946352915014, + -34.15617156998609, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -242.7946352915014, + -36.75424778133941, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -244.2946352915014, + -39.352323992692725, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -245.7946352915014, + -41.95040020404604, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -247.2946352915014, + -44.54847641539936, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -248.7946352915014, + -47.14655262675267, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -250.2946352915014, + -49.74462883810599, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -251.7946352915014, + -52.342705049459305, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -253.2946352915014, + -54.94078126081262, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -254.7946352915014, + -57.53885747216594, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -256.2946352915014, + -60.13693368351925, + 3.7056078038627245 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -256.2946352915014, + -60.13693368351925, + 3.7056078038627245 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -256.2946352915014, + -60.13693368351925, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -254.79463529150138, + -62.73500989487257, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -253.29463529150138, + -65.33308610622589, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196599 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -251.79463529150138, + -67.93116231757921, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -250.29463529150138, + -70.52923852893252, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -248.79463529150138, + -73.12731474028584, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -247.29463529150138, + -75.72539095163916, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -245.79463529150138, + -78.32346716299247, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -244.29463529150138, + -80.92154337434579, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -242.79463529150138, + -83.5196195856991, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -241.29463529150138, + -86.11769579705242, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -239.79463529150138, + -88.71577200840574, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -238.29463529150138, + -91.31384821975905, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -236.79463529150138, + -93.91192443111237, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -235.29463529150138, + -96.51000064246568, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -233.79463529150138, + -99.108076853819, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -232.29463529150138, + -101.70615306517232, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -230.79463529150138, + -104.30422927652563, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -229.29463529150138, + -106.90230548787895, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -227.79463529150138, + -109.50038169923226, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -226.29463529150138, + -112.09845791058558, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -224.79463529150138, + -114.6965341219389, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -223.29463529150138, + -117.29461033329221, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -221.79463529150138, + -119.89268654464553, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -220.29463529150138, + -122.49076275599884, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -218.79463529150138, + -125.08883896735216, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -217.29463529150138, + -127.68691517870548, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -215.79463529150138, + -130.2849913900588, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -214.29463529150138, + -132.8830676014121, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -212.79463529150138, + -135.48114381276542, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -211.29463529150138, + -138.07922002411874, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -209.79463529150138, + -140.67729623547206, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -208.29463529150138, + -143.27537244682537, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -206.79463529150138, + -145.8734486581787, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -205.29463529150138, + -148.471524869532, + 3.7056078038627245 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -205.29463529150138, + -148.471524869532, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -205.29463529150138, + -151.471524869532, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -205.29463529150138, + -154.471524869532, + 3.7056078038627245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -205.29463529150138, + -157.471524869532, + 3.7056078038627245 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-9-26_1184622626/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-9-26_1184622626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11730c440424a863e89faab0de978267589ce3fb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_15-9-26_1184622626/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -62.427490400939305, + -690.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -65.02556661229262, + -688.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -67.62364282364594, + -687.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -70.22171903499925, + -685.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -72.81979524635257, + -684.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -75.41787145770589, + -682.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -78.0159476690592, + -681.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -80.61402388041252, + -679.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -83.21210009176583, + -678.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -85.81017630311915, + -676.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -88.40825251447247, + -675.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -91.00632872582578, + -673.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -93.6044049371791, + -672.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -96.20248114853241, + -670.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -98.80055735988573, + -669.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -101.39863357123905, + -667.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -103.99670978259236, + -666.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -106.59478599394568, + -664.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -109.192862205299, + -663.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -111.79093841665231, + -661.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -114.38901462800563, + -660.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -116.98709083935894, + -658.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -119.58516705071226, + -657.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -122.18324326206557, + -655.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -124.78131947341889, + -654.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -127.3793956847722, + -652.9746206955517, + 0.40559415011319455 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -127.3793956847722, + -652.9746206955517, + 0.40559415011319455 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -127.3793956847722, + -652.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -127.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -127.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -127.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -127.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -124.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -121.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -118.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -118.3793956847722, + -649.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -115.78131947341889, + -648.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -113.18324326206557, + -646.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -110.58516705071226, + -645.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -107.98709083935894, + -643.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -105.38901462800563, + -642.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -102.79093841665231, + -640.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -100.192862205299, + -639.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -97.59478599394568, + -637.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -94.99670978259236, + -636.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -92.39863357123905, + -634.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -89.80055735988573, + -633.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -87.20248114853241, + -631.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -84.6044049371791, + -630.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -82.00632872582578, + -628.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -79.40825251447247, + -627.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -76.81017630311915, + -625.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -74.21210009176583, + -624.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -71.61402388041252, + -622.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -69.0159476690592, + -621.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -66.41787145770589, + -619.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -63.81979524635257, + -618.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -61.22171903499925, + -616.9746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -58.62364282364594, + -615.4746206955517, + 0.40559415011319455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -56.02556661229262, + -613.9746206955517, + 0.40559415011319455 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-1-41_932026304/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-1-41_932026304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d08ea3d18cf628e689be743513cb051cd4974181 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-1-41_932026304/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 470.22634253401026, + -468.6765484408341, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 471.72634253401026, + -466.0784722294808, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 473.22634253401026, + -463.48039601812746, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 474.72634253401026, + -460.88231980677415, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 476.22634253401026, + -458.28424359542083, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 477.72634253401026, + -455.6861673840675, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 479.22634253401026, + -453.0880911727142, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 480.72634253401026, + -450.4900149613609, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 482.22634253401026, + -447.89193875000757, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.72634253401026, + -445.29386253865425, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 485.22634253401026, + -442.69578632730094, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 486.72634253401026, + -440.0977101159476, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 488.22634253401026, + -437.4996339045943, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 489.72634253401026, + -434.901557693241, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.22634253401026, + -432.3034814818877, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 492.72634253401026, + -429.70540527053436, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 494.22634253401026, + -427.10732905918104, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 495.72634253401026, + -424.5092528478277, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 497.22634253401026, + -421.9111766364744, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 498.72634253401026, + -419.3131004251211, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 500.22634253401026, + -416.7150242137678, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 501.72634253401026, + -414.11694800241446, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 503.22634253401026, + -411.51887179106114, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 504.72634253401026, + -408.92079557970783, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 506.22634253401026, + -406.3227193683545, + -1.1744637994716967 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 506.22634253401026, + -406.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 506.22634253401026, + -403.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 506.22634253401026, + -400.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 506.22634253401026, + -397.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 506.22634253401026, + -394.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 506.22634253401026, + -391.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 506.22634253401026, + -388.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 506.22634253401026, + -385.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 506.22634253401026, + -382.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 506.22634253401026, + -379.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 506.22634253401026, + -376.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 506.22634253401026, + -373.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 506.22634253401026, + -370.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 506.22634253401026, + -367.3227193683545, + -1.1744637994716967 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 506.22634253401026, + -367.3227193683545, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 504.72634253401026, + -364.7246431570012, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 503.22634253401026, + -362.1265669456479, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 501.72634253401026, + -359.52849073429456, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 500.22634253401026, + -356.93041452294125, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 498.72634253401026, + -354.33233831158793, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 497.22634253401026, + -351.7342621002346, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 495.72634253401026, + -349.1361858888813, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 494.22634253401026, + -346.538109677528, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 492.72634253401026, + -343.94003346617467, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 491.22634253401026, + -341.34195725482135, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 489.72634253401026, + -338.74388104346804, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 488.22634253401026, + -336.1458048321147, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 486.72634253401026, + -333.5477286207614, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 485.22634253401026, + -330.9496524094081, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 483.72634253401026, + -328.3515761980548, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 482.22634253401026, + -325.75349998670146, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 480.72634253401026, + -323.15542377534814, + -1.1744637994716967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 479.22634253401026, + -320.5573475639948, + -1.1744637994716967 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-10-2_1473144500/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-10-2_1473144500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6a00e22bc128372d64648600fb75d30d8f186c8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-10-2_1473144500/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -141.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -138.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -135.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -132.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -129.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -126.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -123.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -120.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -117.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -114.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -108.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -105.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -102.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -99.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -96.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -90.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -87.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -84.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -81.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -78.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -75.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -72.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -69.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -66.30642472057318, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -63.306424720573176, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -63.306424720573176, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -63.306424720573176, + -630.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -61.806424720573176, + -627.6584136292465, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -60.306424720573176, + -625.0603374178932, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -58.806424720573176, + -622.4622612065398, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -57.306424720573176, + -619.8641849951864, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -55.806424720573176, + -617.266108783833, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.306424720573176, + -614.6680325724797, + 1.3990752869744796 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -54.306424720573176, + -614.6680325724797, + 1.3990752869744796 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.306424720573176, + -614.6680325724797, + 1.3990752869744796 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -54.306424720573176, + -614.6680325724797, + 1.3990752869744796 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -54.306424720573176, + -614.6680325724797, + 1.3990752869744796 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -54.306424720573176, + -614.6680325724797, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -52.806424720573176, + -617.266108783833, + 1.3990752869744796 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -52.806424720573176, + -617.266108783833, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -50.20834850921986, + -618.766108783833, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -47.610272297866544, + -620.266108783833, + 1.3990752869744796 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -47.610272297866544, + -620.266108783833, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -46.110272297866544, + -622.8641849951864, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -44.610272297866544, + -625.4622612065398, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -43.110272297866544, + -628.0603374178932, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -41.610272297866544, + -630.6584136292465, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -40.110272297866544, + -633.2564898405999, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -38.610272297866544, + -635.8545660519533, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -37.110272297866544, + -638.4526422633066, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -35.610272297866544, + -641.05071847466, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -34.110272297866544, + -643.6487946860134, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -32.610272297866544, + -646.2468708973668, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -31.110272297866544, + -648.8449471087201, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -29.610272297866544, + -651.4430233200735, + 1.3990752869744796 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -29.610272297866544, + -651.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -29.610272297866544, + -654.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -29.610272297866544, + -657.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -29.610272297866544, + -660.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -29.610272297866544, + -663.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -29.610272297866544, + -666.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -29.610272297866544, + -669.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -29.610272297866544, + -672.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -29.610272297866544, + -675.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -29.610272297866544, + -678.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -29.610272297866544, + -681.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -29.610272297866544, + -684.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -29.610272297866544, + -687.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -29.610272297866544, + -690.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -29.610272297866544, + -693.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -29.610272297866544, + -696.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -29.610272297866544, + -699.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -29.610272297866544, + -702.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -29.610272297866544, + -705.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -29.610272297866544, + -708.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -29.610272297866544, + -711.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -29.610272297866544, + -714.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -29.610272297866544, + -717.4430233200735, + 1.3990752869744796 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -29.610272297866544, + -720.4430233200735, + 1.3990752869744796 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-11-10_1498617647/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-11-10_1498617647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c29f7e7cb182ce13feea07e28bff4555caefd87 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-11-10_1498617647/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 567.1783637307101, + -11.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 569.7764399420635, + -12.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 572.3745161534168, + -14.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 574.9725923647702, + -15.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 577.5706685761236, + -17.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 580.168744787477, + -18.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 582.7668209988303, + -20.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 585.3648972101837, + -21.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 587.9629734215371, + -23.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 590.5610496328904, + -24.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 593.1591258442438, + -26.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 595.7572020555972, + -27.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 598.3552782669506, + -29.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 600.9533544783039, + -30.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 603.5514306896573, + -32.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 606.1495069010107, + -33.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 608.747583112364, + -35.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 611.3456593237174, + -36.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 613.9437355350708, + -38.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 616.5418117464242, + -39.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 619.1398879577775, + -41.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 621.7379641691309, + -42.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 624.3360403804843, + -44.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 626.9341165918377, + -45.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 629.532192803191, + -47.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 632.1302690145444, + -48.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 634.7283452258978, + -50.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 637.3264214372512, + -51.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 639.9244976486045, + -53.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 642.5225738599579, + -54.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 645.1206500713113, + -56.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 647.7187262826646, + -57.73016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 650.316802494018, + -59.23016141141737, + -1.8196404568962423 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 650.316802494018, + -59.23016141141737, + -1.8196404568962423 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 650.316802494018, + -59.23016141141737, + -1.8196404568962423 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 650.316802494018, + -59.23016141141737, + -1.8196404568962423 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 650.316802494018, + -59.23016141141737, + -1.8196404568962423 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 650.316802494018, + -59.23016141141737, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 648.816802494018, + -56.632085200064054, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 647.316802494018, + -54.03400898871074, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 645.816802494018, + -51.43593277735742, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 644.316802494018, + -48.837856566004106, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 642.816802494018, + -46.23978035465079, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 641.316802494018, + -43.641704143297474, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 639.816802494018, + -41.04362793194416, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 638.316802494018, + -38.44555172059084, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 636.816802494018, + -35.847475509237526, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 635.316802494018, + -33.24939929788421, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 633.816802494018, + -30.651323086530894, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 632.316802494018, + -28.053246875177578, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 630.816802494018, + -25.455170663824262, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 629.316802494018, + -22.857094452470946, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 627.816802494018, + -20.25901824111763, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 626.316802494018, + -17.660942029764314, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 624.816802494018, + -15.062865818410998, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 623.316802494018, + -12.464789607057682, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 621.816802494018, + -9.866713395704366, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 620.316802494018, + -7.26863718435105, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 618.816802494018, + -4.670560972997734, + -1.8196404568962423 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 618.816802494018, + -4.670560972997734, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 618.816802494018, + -1.670560972997734, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 618.816802494018, + 1.329439027002266, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 618.816802494018, + 4.329439027002266, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 618.816802494018, + 7.329439027002266, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 618.816802494018, + 10.329439027002266, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 618.816802494018, + 13.329439027002266, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 618.816802494018, + 16.329439027002266, + -1.8196404568962423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 618.816802494018, + 19.329439027002266, + -1.8196404568962423 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-12-14_1387036159/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-12-14_1387036159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b052b30d4ec989e6407a6377c4e4c333f35b77c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-12-14_1387036159/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 192.46105808347704, + 6.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 189.86298187212373, + 7.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 187.2649056607704, + 9.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 184.6668294494171, + 10.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 182.06875323806378, + 12.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 179.47067702671046, + 13.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 176.87260081535715, + 15.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 174.27452460400383, + 16.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 171.6764483926505, + 18.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 169.0783721812972, + 19.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 166.48029596994388, + 21.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 163.88221975859057, + 22.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 161.28414354723725, + 24.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 158.68606733588393, + 25.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 156.08799112453062, + 27.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 153.4899149131773, + 28.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 150.89183870182399, + 30.113265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 148.29376249047067, + 31.613265587852048, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 145.69568627911735, + 33.11326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 143.09761006776404, + 34.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 140.49953385641072, + 36.11326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 137.9014576450574, + 37.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.3033814337041, + 39.11326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 132.70530522235077, + 40.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 130.10722901099746, + 42.11326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 127.50915279964414, + 43.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 124.91107658829083, + 45.11326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 122.31300037693751, + 46.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 119.7149241655842, + 48.11326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 117.11684795423088, + 49.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 114.51877174287756, + 51.11326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 111.92069553152425, + 52.61326558785205, + 4.67323767041321 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 111.92069553152425, + 52.61326558785205, + 4.67323767041321 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 111.92069553152425, + 52.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 111.92069553152425, + 55.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 111.92069553152425, + 58.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 111.92069553152425, + 61.61326558785205, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 111.92069553152425, + 64.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 111.92069553152425, + 67.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 111.92069553152425, + 70.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 111.92069553152425, + 73.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 111.92069553152425, + 76.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 111.92069553152425, + 79.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 111.92069553152425, + 82.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 111.92069553152425, + 85.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 111.92069553152425, + 88.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 111.92069553152425, + 91.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 111.92069553152425, + 94.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 111.92069553152425, + 97.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 111.92069553152425, + 100.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 111.92069553152425, + 103.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 111.92069553152425, + 106.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 111.92069553152425, + 109.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 111.92069553152425, + 112.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 111.92069553152425, + 115.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 111.92069553152425, + 118.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 111.92069553152425, + 121.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 111.92069553152425, + 124.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 111.92069553152425, + 127.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 111.92069553152425, + 130.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 111.92069553152425, + 133.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 111.92069553152425, + 136.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 111.92069553152425, + 139.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 111.92069553152425, + 142.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 111.92069553152425, + 145.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 111.92069553152425, + 148.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 111.92069553152425, + 151.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 111.92069553152425, + 154.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 111.92069553152425, + 157.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 111.92069553152425, + 160.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 111.92069553152425, + 163.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 111.92069553152425, + 166.61326558785206, + 4.67323767041321 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 111.92069553152425, + 166.61326558785206, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 110.42069553152425, + 169.21134179920537, + 4.67323767041321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 108.92069553152425, + 171.8094180105587, + 4.67323767041321 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-12-48_12895151/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-12-48_12895151/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f25e627965ac173e2520bf2821097239412cad2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-12-48_12895151/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -134.98822024365248, + -664.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -132.39014403229916, + -663.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -129.79206782094585, + -661.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -127.19399160959253, + -660.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -124.59591539823921, + -658.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -121.9978391868859, + -657.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -119.39976297553258, + -655.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -116.80168676417927, + -654.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -114.20361055282595, + -652.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -111.60553434147263, + -651.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -109.00745813011932, + -649.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -106.409381918766, + -648.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -103.81130570741269, + -646.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -101.21322949605937, + -645.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -98.61515328470605, + -643.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -96.01707707335274, + -642.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.41900086199942, + -640.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -90.8209246506461, + -639.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -88.22284843929279, + -637.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -85.62477222793947, + -636.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -83.02669601658616, + -634.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -80.42861980523284, + -633.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -77.83054359387953, + -631.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -75.23246738252621, + -630.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -72.6343911711729, + -628.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -70.03631495981958, + -627.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -67.43823874846626, + -625.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -64.84016253711295, + -624.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -62.24208632575963, + -622.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -59.64401011440631, + -621.0710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -57.045933903053, + -619.5710735765583, + 0.5163129981933912 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -57.045933903053, + -619.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -55.545933903053, + -616.972997365205, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -54.045933903053, + -614.3749211538516, + 0.5163129981933912 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.045933903053, + -614.3749211538516, + 0.5163129981933912 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -54.045933903053, + -614.3749211538516, + 0.5163129981933912 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.045933903053, + -614.3749211538516, + 0.5163129981933912 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -54.045933903053, + -614.3749211538516, + 0.5163129981933912 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -54.045933903053, + -614.3749211538516, + 0.5163129981933912 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948868 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -54.045933903053, + -614.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -54.045933903053, + -617.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -54.045933903053, + -620.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -54.045933903053, + -623.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -54.045933903053, + -626.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -54.045933903053, + -629.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -54.045933903053, + -632.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -54.045933903053, + -635.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -54.045933903053, + -638.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -54.045933903053, + -641.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -54.045933903053, + -644.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -54.045933903053, + -647.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -54.045933903053, + -650.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -54.045933903053, + -653.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -54.045933903053, + -656.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -54.045933903053, + -659.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -54.045933903053, + -662.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -54.045933903053, + -665.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -54.045933903053, + -668.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -54.045933903053, + -671.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -54.045933903053, + -674.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -54.045933903053, + -677.3749211538516, + 0.5163129981933912 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -54.045933903053, + -677.3749211538516, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -52.545933903053, + -679.972997365205, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -51.045933903053, + -682.5710735765583, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -49.545933903053, + -685.1691497879117, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -48.045933903053, + -687.7672259992651, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -46.545933903053, + -690.3653022106184, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -45.045933903053, + -692.9633784219718, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -43.545933903053, + -695.5614546333252, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -42.045933903053, + -698.1595308446786, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -40.545933903053, + -700.7576070560319, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -39.045933903053, + -703.3556832673853, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -37.545933903053, + -705.9537594787387, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -36.045933903053, + -708.551835690092, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -34.545933903053, + -711.1499119014454, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -33.045933903053, + -713.7479881127988, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -31.545933903052997, + -716.3460643241522, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -30.045933903052997, + -718.9441405355055, + 0.5163129981933912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -28.545933903052997, + -721.5422167468589, + 0.5163129981933912 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-13-24_1144522535/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-13-24_1144522535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b17e3bc1b649a607eaffc6071f0e6a9b9062c0db --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-13-24_1144522535/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -105.880396361545, + -197.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -105.880396361545, + -200.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -105.880396361545, + -203.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -105.880396361545, + -206.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -105.880396361545, + -209.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -105.880396361545, + -212.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.880396361545, + -215.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -105.880396361545, + -218.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -105.880396361545, + -221.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.880396361545, + -224.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -105.880396361545, + -227.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -105.880396361545, + -230.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -105.880396361545, + -233.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -105.880396361545, + -236.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -105.880396361545, + -239.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -105.880396361545, + -242.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -105.880396361545, + -245.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -105.880396361545, + -248.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -105.880396361545, + -251.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -105.880396361545, + -254.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -105.880396361545, + -257.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -105.880396361545, + -260.0747141742027, + 3.0447012773582145 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -105.880396361545, + -260.0747141742027, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -107.380396361545, + -262.672790385556, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -108.880396361545, + -265.27086659690934, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -110.380396361545, + -267.86894280826266, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -111.880396361545, + -270.467019019616, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -113.380396361545, + -273.0650952309693, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.880396361545, + -275.6631714423226, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -116.380396361545, + -278.2612476536759, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -117.880396361545, + -280.85932386502924, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -119.380396361545, + -283.45740007638256, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -120.880396361545, + -286.05547628773587, + 3.0447012773582145 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -120.880396361545, + -286.05547628773587, + 3.0447012773582145 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -120.880396361545, + -286.05547628773587, + 3.0447012773582145 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -120.880396361545, + -286.05547628773587, + 3.0447012773582145 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -120.880396361545, + -286.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -118.28232015019168, + -287.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -115.68424393883836, + -289.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -113.08616772748505, + -290.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -110.48809151613173, + -292.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -107.89001530477842, + -293.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -105.2919390934251, + -295.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -102.69386288207178, + -296.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -100.09578667071847, + -298.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -97.49771045936515, + -299.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -94.89963424801184, + -301.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -92.30155803665852, + -302.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -89.7034818253052, + -304.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -87.10540561395189, + -305.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -84.50732940259857, + -307.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -81.90925319124526, + -308.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -79.31117697989194, + -310.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -76.71310076853862, + -311.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -74.11502455718531, + -313.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -71.51694834583199, + -314.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -68.91887213447868, + -316.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -66.32079592312536, + -317.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -63.722719711772044, + -319.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -61.12464350041873, + -320.55547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -58.52656728906541, + -322.05547628773587, + 3.0447012773582145 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -58.52656728906541, + -322.05547628773587, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -57.02656728906541, + -324.6535524990892, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -55.52656728906541, + -327.2516287104425, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -54.02656728906541, + -329.8497049217958, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -52.52656728906541, + -332.44778113314914, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -51.02656728906541, + -335.04585734450245, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -49.52656728906541, + -337.64393355585577, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -48.02656728906541, + -340.2420097672091, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -46.52656728906541, + -342.8400859785624, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -45.02656728906541, + -345.4381621899157, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -43.52656728906541, + -348.03623840126903, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -42.02656728906541, + -350.63431461262235, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -40.52656728906541, + -353.23239082397566, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -39.02656728906541, + -355.830467035329, + 3.0447012773582145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -37.52656728906541, + -358.4285432466823, + 3.0447012773582145 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-14-34_1328104339/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-14-34_1328104339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a0d2982fcb698f8cd7536c39b80f0b0e981e8ee --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-14-34_1328104339/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 32.29157688053055, + -339.70268106864165, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 33.79157688053055, + -342.30075727999497, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 35.29157688053055, + -344.8988334913483, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 36.79157688053055, + -347.4969097027016, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 38.29157688053055, + -350.0949859140549, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 39.79157688053055, + -352.69306212540823, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 41.29157688053055, + -355.29113833676155, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 42.79157688053055, + -357.88921454811486, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 44.29157688053055, + -360.4872907594682, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.79157688053055, + -363.0853669708215, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 47.29157688053055, + -365.6834431821748, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 48.79157688053055, + -368.28151939352813, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 50.29157688053055, + -370.87959560488144, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 51.79157688053055, + -373.47767181623476, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 53.29157688053055, + -376.0757480275881, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 54.79157688053055, + -378.6738242389414, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 56.29157688053055, + -381.2719004502947, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 57.79157688053055, + -383.869976661648, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 59.29157688053055, + -386.46805287300134, + -4.189493107939583 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 59.29157688053055, + -386.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 61.889653091883865, + -387.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 64.48772930323719, + -389.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982977 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 67.0858055145905, + -390.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 69.68388172594382, + -392.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 72.28195793729714, + -393.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 74.88003414865045, + -395.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 77.47811036000377, + -396.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 80.07618657135708, + -398.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 82.6742627827104, + -399.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 85.27233899406372, + -401.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 87.87041520541703, + -402.96805287300134, + -4.189493107939583 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 87.87041520541703, + -402.96805287300134, + -4.189493107939583 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 87.87041520541703, + -402.96805287300134, + -4.189493107939583 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 87.87041520541703, + -402.96805287300134, + -4.189493107939583 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 87.87041520541703, + -402.96805287300134, + -4.189493107939583 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 87.87041520541703, + -402.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 85.27233899406372, + -404.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 82.6742627827104, + -405.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 80.07618657135708, + -407.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 77.47811036000377, + -408.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 74.88003414865045, + -410.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 72.28195793729714, + -411.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 69.68388172594382, + -413.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 67.0858055145905, + -414.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 64.48772930323719, + -416.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 61.88965309188387, + -417.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 59.291576880530556, + -419.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 56.69350066917724, + -420.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 54.095424457823924, + -422.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 51.49734824647061, + -423.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 48.89927203511729, + -425.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 46.301195823763976, + -426.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 43.70311961241066, + -428.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 41.105043401057344, + -429.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 38.50696718970403, + -431.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 35.90889097835071, + -432.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 33.310814766997396, + -434.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 30.71273855564408, + -435.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 28.114662344290764, + -437.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 25.516586132937448, + -438.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 22.918509921584132, + -440.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 20.320433710230816, + -441.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 17.7223574988775, + -443.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 15.124281287524184, + -444.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 12.526205076170868, + -446.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 9.928128864817552, + -447.96805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 7.330052653464236, + -449.46805287300134, + -4.189493107939583 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 7.330052653464236, + -449.46805287300134, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 5.830052653464237, + -452.06612908435466, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 4.330052653464238, + -454.664205295708, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 2.8300526534642385, + -457.2622815070613, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1.3300526534642392, + -459.8603577184146, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -0.16994734653576016, + -462.4584339297679, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -1.6699473465357595, + -465.05651014112124, + -4.189493107939583 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -3.169947346535759, + -467.65458635247455, + -4.189493107939583 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-15-12_1380171692/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-15-12_1380171692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99e14a56b5264ea6e3389b9e40fd629ed1227765 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-15-12_1380171692/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 961.7360656540443, + -383.6072703190571, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 960.2360656540443, + -381.00919410770376, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 958.7360656540443, + -378.41111789635045, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 957.2360656540443, + -375.81304168499713, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 955.7360656540443, + -373.2149654736438, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 954.2360656540443, + -370.6168892622905, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 952.7360656540443, + -368.0188130509372, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 951.2360656540443, + -365.42073683958387, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 949.7360656540443, + -362.82266062823055, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 948.2360656540443, + -360.22458441687724, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 946.7360656540443, + -357.6265082055239, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 945.2360656540443, + -355.0284319941706, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 943.7360656540443, + -352.4303557828173, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 942.2360656540443, + -349.83227957146397, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 940.7360656540443, + -347.23420336011066, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 939.2360656540443, + -344.63612714875734, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 937.7360656540443, + -342.038050937404, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 936.2360656540443, + -339.4399747260507, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 934.7360656540443, + -336.8418985146974, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 933.2360656540443, + -334.2438223033441, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 931.7360656540443, + -331.64574609199076, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 930.2360656540443, + -329.04766988063744, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 928.7360656540443, + -326.4495936692841, + -3.492691531020164 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 928.7360656540443, + -326.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 928.7360656540443, + -323.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 928.7360656540443, + -320.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 928.7360656540443, + -317.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 928.7360656540443, + -314.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 928.7360656540443, + -311.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 928.7360656540443, + -308.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 928.7360656540443, + -305.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 928.7360656540443, + -302.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 928.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 928.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 928.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 928.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 928.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 931.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 934.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 934.7360656540443, + -299.4495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 937.3341418653977, + -297.9495936692841, + -3.492691531020164 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 937.3341418653977, + -297.9495936692841, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 938.8341418653977, + -295.3515174579308, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 940.3341418653977, + -292.7534412465775, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 941.8341418653977, + -290.1553650352242, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 943.3341418653977, + -287.55728882387086, + -3.492691531020164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 943.3341418653977, + -287.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 945.932218076751, + -286.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 948.5302942881044, + -284.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 951.1283704994578, + -283.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 953.7264467108112, + -281.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 956.3245229221645, + -280.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 958.9225991335179, + -278.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 961.5206753448713, + -277.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 964.1187515562247, + -275.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 966.716827767578, + -274.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 969.3149039789314, + -272.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 971.9129801902848, + -271.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 974.5110564016381, + -269.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 977.1091326129915, + -268.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 979.7072088243449, + -266.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 982.3052850356983, + -265.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 984.9033612470516, + -263.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 987.501437458405, + -262.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 990.0995136697584, + -260.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 992.6975898811118, + -259.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 995.2956660924651, + -257.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 997.8937423038185, + -256.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1000.4918185151719, + -254.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1003.0898947265252, + -253.05728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1005.6879709378786, + -251.55728882387086, + -3.492691531020164 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1005.6879709378786, + -251.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1008.6879709378786, + -251.55728882387086, + -3.492691531020164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1011.6879709378786, + -251.55728882387086, + -3.492691531020164 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-16-26_860516127/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-16-26_860516127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb5ad507d1e7a972ec53c4469bafb6096f32b55a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-16-26_860516127/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 213.26128593524788, + -105.92090723735711, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 214.76128593524788, + -108.51898344871043, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 216.26128593524788, + -111.11705966006375, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 217.76128593524788, + -113.71513587141706, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 219.26128593524788, + -116.31321208277038, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 220.76128593524788, + -118.9112882941237, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 222.26128593524788, + -121.50936450547701, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 223.76128593524788, + -124.10744071683033, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 225.26128593524788, + -126.70551692818364, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 226.76128593524788, + -129.30359313953696, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 228.26128593524788, + -131.90166935089027, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 229.76128593524788, + -134.4997455622436, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 231.26128593524788, + -137.0978217735969, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 232.76128593524788, + -139.69589798495022, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 234.26128593524788, + -142.29397419630354, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 235.76128593524788, + -144.89205040765685, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 237.26128593524788, + -147.49012661901017, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 238.76128593524788, + -150.08820283036349, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 240.26128593524788, + -152.6862790417168, + 1.263972272055395 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 240.26128593524788, + -152.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 240.26128593524788, + -155.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 240.26128593524788, + -158.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 240.26128593524788, + -161.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 240.26128593524788, + -164.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 240.26128593524788, + -167.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 240.26128593524788, + -170.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 240.26128593524788, + -173.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 240.26128593524788, + -176.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 240.26128593524788, + -179.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 240.26128593524788, + -182.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 240.26128593524788, + -185.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 240.26128593524788, + -188.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 240.26128593524788, + -191.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 240.26128593524788, + -194.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 240.26128593524788, + -197.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 240.26128593524788, + -200.6862790417168, + 1.263972272055395 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 240.26128593524788, + -200.6862790417168, + 1.263972272055395 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 240.26128593524788, + -200.6862790417168, + 1.263972272055395 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 240.26128593524788, + -200.6862790417168, + 1.263972272055395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 240.26128593524788, + -200.6862790417168, + 1.263972272055395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 240.26128593524788, + -200.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 242.8593621466012, + -199.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 245.45743835795452, + -197.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 248.05551456930783, + -196.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 250.65359078066115, + -194.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 253.25166699201446, + -193.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 255.84974320336778, + -191.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 258.4478194147211, + -190.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 261.0458956260744, + -188.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 263.6439718374277, + -187.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 266.24204804878104, + -185.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 268.84012426013436, + -184.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 271.4382004714877, + -182.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 274.036276682841, + -181.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 276.6343528941943, + -179.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 279.2324291055476, + -178.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 281.83050531690094, + -176.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 284.42858152825426, + -175.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 287.0266577396076, + -173.6862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 289.6247339509609, + -172.1862790417168, + 1.263972272055395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 289.6247339509609, + -172.1862790417168, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 291.1247339509609, + -169.58820283036349, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 292.6247339509609, + -166.99012661901017, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 294.1247339509609, + -164.39205040765685, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 295.6247339509609, + -161.79397419630354, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 297.1247339509609, + -159.19589798495022, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 298.6247339509609, + -156.5978217735969, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 300.1247339509609, + -153.9997455622436, + 1.263972272055395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 301.6247339509609, + -151.40166935089027, + 1.263972272055395 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-19-18_328298285/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-19-18_328298285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bee3b56e05d9ba36c42f1523c03ba5b3094c1073 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-19-18_328298285/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 447.10457177781905, + -528.8523836580764, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 445.60457177781905, + -526.254307446723, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 444.10457177781905, + -523.6562312353697, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 442.60457177781905, + -521.0581550240163, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 441.10457177781905, + -518.4600788126629, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 439.60457177781905, + -515.8620026013095, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 438.10457177781905, + -513.2639263899562, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 436.60457177781905, + -510.66585017860285, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 435.10457177781905, + -508.06777396724954, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 433.60457177781905, + -505.4696977558962, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 432.10457177781905, + -502.8716215445429, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 430.60457177781905, + -500.2735453331896, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 429.10457177781905, + -497.6754691218363, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 427.60457177781905, + -495.07739291048296, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 426.10457177781905, + -492.47931669912964, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 424.60457177781905, + -489.8812404877763, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 423.10457177781905, + -487.283164276423, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 421.60457177781905, + -484.6850880650697, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 420.10457177781905, + -482.0870118537164, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.60457177781905, + -479.48893564236306, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 417.10457177781905, + -476.89085943100974, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 415.60457177781905, + -474.2927832196564, + -0.7266977043255869 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 415.60457177781905, + -474.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 415.60457177781905, + -471.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 415.60457177781905, + -468.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 415.60457177781905, + -465.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 415.60457177781905, + -462.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 415.60457177781905, + -459.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 415.60457177781905, + -456.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 415.60457177781905, + -453.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 415.60457177781905, + -450.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 415.60457177781905, + -447.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 415.60457177781905, + -444.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 415.60457177781905, + -441.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 415.60457177781905, + -438.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 415.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 415.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 415.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 415.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 415.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 418.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 421.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 424.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 427.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 427.60457177781905, + -435.2927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 430.20264798917236, + -433.7927832196564, + -0.7266977043255869 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 430.20264798917236, + -433.7927832196564, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 431.70264798917236, + -431.1947070083031, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 433.20264798917236, + -428.5966307969498, + -0.7266977043255869 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 433.20264798917236, + -428.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 435.8007242005257, + -427.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 438.398800411879, + -425.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 440.9968766232323, + -424.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 443.5949528345856, + -422.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 446.19302904593894, + -421.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 448.79110525729226, + -419.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 451.3891814686456, + -418.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 453.9872576799989, + -416.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 456.5853338913522, + -415.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 459.1834101027055, + -413.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 461.78148631405884, + -412.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 464.37956252541215, + -410.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 466.97763873676547, + -409.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 469.5757149481188, + -407.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 472.1737911594721, + -406.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 474.7718673708254, + -404.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 477.36994358217873, + -403.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 479.96801979353205, + -401.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 482.56609600488537, + -400.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 485.1641722162387, + -398.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 487.762248427592, + -397.0966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 490.3603246389453, + -395.5966307969498, + -0.7266977043255869 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 492.95840085029863, + -394.0966307969498, + -0.7266977043255869 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-2-47_828388027/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-2-47_828388027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..145df7a1e460098d01e6fafeae283b79afc7172a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-2-47_828388027/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1213.8028923289671, + -288.06834649624477, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1212.3028923289671, + -285.47027028489146, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1210.8028923289671, + -282.87219407353814, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1209.3028923289671, + -280.2741178621848, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1207.8028923289671, + -277.6760416508315, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1206.3028923289671, + -275.0779654394782, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1204.8028923289671, + -272.4798892281249, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1203.3028923289671, + -269.88181301677156, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1201.8028923289671, + -267.28373680541824, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1200.3028923289671, + -264.6856605940649, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1198.8028923289671, + -262.0875843827116, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1197.3028923289671, + -259.4895081713583, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1195.8028923289671, + -256.891431960005, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1194.3028923289671, + -254.29335574865166, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1192.8028923289671, + -251.69527953729835, + 0.1290533005801464 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1192.8028923289671, + -251.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1190.2048161176137, + -250.19527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1187.6067399062604, + -248.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1185.008663694907, + -247.19527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1182.4105874835536, + -245.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1179.8125112722003, + -244.19527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1177.2144350608469, + -242.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1174.6163588494935, + -241.19527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1172.0182826381401, + -239.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1169.4202064267868, + -238.19527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1166.8221302154334, + -236.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1164.22405400408, + -235.19527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1161.6259777927266, + -233.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1159.0279015813733, + -232.19527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1156.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1156.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1156.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1156.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1156.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1156.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1156.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1159.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1162.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1165.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1168.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1171.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1174.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1177.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1180.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1183.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1186.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1189.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1192.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1195.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1198.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1201.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1204.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1207.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1210.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1213.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1216.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1219.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1222.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1225.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1228.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1231.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1234.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1237.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1240.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1243.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1246.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1249.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1252.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1255.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1258.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1261.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1264.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1267.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1270.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1270.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1270.42982537002, + -230.69527953729835, + 0.1290533005801464 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1271.92982537002, + -233.29335574865166, + 0.1290533005801464 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-2-9_496060028/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-2-9_496060028/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..986f50c32b4e1fbef838cd26882c83abc0cc8e22 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-2-9_496060028/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 220.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 217.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 214.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 211.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 208.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 205.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 202.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 199.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 196.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 193.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 190.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 187.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 184.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 181.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 178.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 175.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 172.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 169.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 166.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 163.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 160.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 157.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 154.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 151.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 148.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 145.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 142.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 139.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 136.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 133.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 130.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 127.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 124.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 124.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 124.39676679272662, + 193.30109216172954, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 122.89676679272662, + 190.70301595037623, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 121.39676679272662, + 188.1049397390229, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 119.89676679272662, + 185.5068635276696, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 118.39676679272662, + 182.90878731631628, + 1.8565325021951846 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 118.39676679272662, + 182.90878731631628, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 115.79869058137331, + 181.40878731631628, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 113.20061437001999, + 179.90878731631628, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 110.60253815866668, + 178.40878731631628, + 1.8565325021951846 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 110.60253815866668, + 178.40878731631628, + 1.8565325021951846 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 110.60253815866668, + 178.40878731631628, + 1.8565325021951846 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 110.60253815866668, + 178.40878731631628, + 1.8565325021951846 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 110.60253815866668, + 178.40878731631628, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 112.10253815866668, + 175.81071110496296, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 113.60253815866668, + 173.21263489360965, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 115.10253815866668, + 170.61455868225633, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 116.60253815866668, + 168.01648247090301, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 118.10253815866668, + 165.4184062595497, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 119.60253815866668, + 162.82033004819638, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 121.10253815866668, + 160.22225383684307, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 122.60253815866668, + 157.62417762548975, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 124.10253815866668, + 155.02610141413643, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 125.60253815866668, + 152.42802520278312, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 127.10253815866668, + 149.8299489914298, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 128.60253815866668, + 147.2318727800765, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 130.10253815866668, + 144.63379656872317, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 131.60253815866668, + 142.03572035736985, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 133.10253815866668, + 139.43764414601654, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 134.60253815866668, + 136.83956793466322, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 136.10253815866668, + 134.2414917233099, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 137.60253815866668, + 131.6434155119566, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 139.10253815866668, + 129.04533930060327, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 140.60253815866668, + 126.44726308924996, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 142.10253815866668, + 123.84918687789664, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 143.60253815866668, + 121.25111066654333, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 145.10253815866668, + 118.65303445519001, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 146.60253815866668, + 116.0549582438367, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 148.10253815866668, + 113.45688203248338, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 149.60253815866668, + 110.85880582113006, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 151.10253815866668, + 108.26072960977675, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 152.60253815866668, + 105.66265339842343, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 154.10253815866668, + 103.06457718707011, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 155.60253815866668, + 100.4665009757168, + 1.8565325021951846 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 155.60253815866668, + 100.4665009757168, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 155.60253815866668, + 97.4665009757168, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 155.60253815866668, + 94.4665009757168, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 155.60253815866668, + 91.4665009757168, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 155.60253815866668, + 88.4665009757168, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 155.60253815866668, + 85.4665009757168, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 155.60253815866668, + 82.4665009757168, + 1.8565325021951846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 155.60253815866668, + 79.4665009757168, + 1.8565325021951846 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-20-27_136495343/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-20-27_136495343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275893157eb40af73890f08018af4fa5f2c57818 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-20-27_136495343/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 564.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 567.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 570.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 573.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 576.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 579.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 582.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 585.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 588.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 591.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 594.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 597.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 600.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 603.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 606.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 609.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 609.3169436116505, + -77.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 611.9150198230038, + -75.64312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 614.5130960343572, + -74.14312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 617.1111722457106, + -72.64312568963489, + 3.7326117625632858 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 617.1111722457106, + -72.64312568963489, + 3.7326117625632858 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 617.1111722457106, + -72.64312568963489, + 3.7326117625632858 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 617.1111722457106, + -72.64312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 617.1111722457106, + -69.64312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 617.1111722457106, + -66.64312568963489, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 617.1111722457106, + -63.643125689634886, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 617.1111722457106, + -60.643125689634886, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 617.1111722457106, + -57.643125689634886, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 617.1111722457106, + -54.643125689634886, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 617.1111722457106, + -51.643125689634886, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 617.1111722457106, + -48.643125689634886, + 3.7326117625632858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 617.1111722457106, + -45.643125689634886, + 3.7326117625632858 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-20-49_1472576335/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-20-49_1472576335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16955b9e1249e4b2948823acbbb7c6891c74b72b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-20-49_1472576335/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -22.586799509004422, + 87.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -19.988723297651106, + 89.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -17.39064708629779, + 90.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -14.792570874944474, + 92.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -12.194494663591158, + 93.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.596418452237842, + 95.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -6.998342240884526, + 96.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.40026602953121, + 98.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1.8021898181778937, + 99.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 0.7958863931754223, + 101.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3.3939626045287383, + 102.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 5.992038815882054, + 104.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.59011502723537, + 105.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 11.188191238588686, + 107.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 13.786267449942002, + 108.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.38434366129532, + 110.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 18.982419872648634, + 111.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 21.58049608400195, + 113.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 24.178572295355266, + 114.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 26.776648506708582, + 116.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 29.3747247180619, + 117.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 31.972800929415214, + 119.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 34.57087714076853, + 120.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 37.16895335212185, + 122.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 39.76702956347516, + 123.76377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 42.36510577482848, + 125.26377972611459, + -2.9000897763876123 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.36510577482848, + 125.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 43.86510577482848, + 127.86185593746791, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 45.36510577482848, + 130.45993214882122, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 46.86510577482848, + 133.05800836017454, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 48.36510577482848, + 135.65608457152786, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 49.86510577482848, + 138.25416078288117, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 51.36510577482848, + 140.8522369942345, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 52.86510577482848, + 143.4503132055878, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 54.36510577482848, + 146.04838941694112, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 55.86510577482848, + 148.64646562829444, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 57.36510577482848, + 151.24454183964775, + -2.9000897763876123 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 57.36510577482848, + 151.24454183964775, + -2.9000897763876123 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 57.36510577482848, + 151.24454183964775, + -2.9000897763876123 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 57.36510577482848, + 151.24454183964775, + -2.9000897763876123 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 57.36510577482848, + 151.24454183964775, + -2.9000897763876123 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 57.36510577482848, + 151.24454183964775, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 58.86510577482848, + 148.64646562829444, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 60.36510577482848, + 146.04838941694112, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 61.86510577482848, + 143.4503132055878, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 63.36510577482848, + 140.8522369942345, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 64.86510577482848, + 138.25416078288117, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 66.36510577482848, + 135.65608457152786, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 67.86510577482848, + 133.05800836017454, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 69.36510577482848, + 130.45993214882122, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 70.86510577482848, + 127.86185593746791, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 72.36510577482848, + 125.26377972611459, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 73.86510577482848, + 122.66570351476128, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 75.36510577482848, + 120.06762730340796, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 76.86510577482848, + 117.46955109205464, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 78.36510577482848, + 114.87147488070133, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 79.86510577482848, + 112.27339866934801, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 81.36510577482848, + 109.6753224579947, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 82.86510577482848, + 107.07724624664138, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 84.36510577482848, + 104.47917003528806, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 85.86510577482848, + 101.88109382393475, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 87.36510577482848, + 99.28301761258143, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 88.86510577482848, + 96.68494140122812, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 90.36510577482848, + 94.0868651898748, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 91.86510577482848, + 91.48878897852148, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 93.36510577482848, + 88.89071276716817, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 94.86510577482848, + 86.29263655581485, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 96.36510577482848, + 83.69456034446154, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 97.86510577482848, + 81.09648413310822, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 99.36510577482848, + 78.4984079217549, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 100.86510577482848, + 75.90033171040159, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 102.36510577482848, + 73.30225549904827, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 103.86510577482848, + 70.70417928769496, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 105.36510577482848, + 68.10610307634164, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 106.86510577482848, + 65.50802686498832, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 108.36510577482848, + 62.90995065363501, + -2.9000897763876123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 109.86510577482848, + 60.31187444228169, + -2.9000897763876123 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-22-32_1503885238/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-22-32_1503885238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9be3bf955cffb883d7e11b82a99c973f67fd14ea --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-22-32_1503885238/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -360.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -357.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -354.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -351.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -348.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -345.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -342.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -339.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -336.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -333.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -330.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -327.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -324.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -321.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -318.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -315.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -312.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -309.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -306.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -303.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -300.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -297.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -294.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -291.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -291.30669306983344, + 61.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -288.7086168584801, + 60.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -286.1105406471268, + 58.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -283.5124644357735, + 57.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -280.9143882244202, + 55.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -278.31631201306686, + 54.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -275.71823580171355, + 52.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -273.12015959036023, + 51.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -270.5220833790069, + 49.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -267.9240071676536, + 48.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -265.3259309563003, + 46.78943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -262.72785474494697, + 45.28943744791695, + 0.9741744145173534 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -262.72785474494697, + 45.28943744791695, + 0.9741744145173534 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -262.72785474494697, + 45.28943744791695, + 0.9741744145173534 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -262.72785474494697, + 45.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -262.72785474494697, + 42.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -262.72785474494697, + 39.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -262.72785474494697, + 36.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -262.72785474494697, + 33.28943744791695, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -262.72785474494697, + 30.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -262.72785474494697, + 27.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -262.72785474494697, + 24.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -262.72785474494697, + 21.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -262.72785474494697, + 18.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -262.72785474494697, + 15.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -262.72785474494697, + 12.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -262.72785474494697, + 9.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -262.72785474494697, + 6.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -262.72785474494697, + 3.289437447916953, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -262.72785474494697, + 0.2894374479169528, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -262.72785474494697, + -2.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -262.72785474494697, + -5.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -262.72785474494697, + -8.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -262.72785474494697, + -11.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -262.72785474494697, + -14.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -262.72785474494697, + -17.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -262.72785474494697, + -20.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -262.72785474494697, + -23.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -262.72785474494697, + -26.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -262.72785474494697, + -29.710562552083047, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -262.72785474494697, + -32.71056255208305, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -262.72785474494697, + -35.71056255208305, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -262.72785474494697, + -38.71056255208305, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -262.72785474494697, + -41.71056255208305, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -262.72785474494697, + -44.71056255208305, + 0.9741744145173534 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -262.72785474494697, + -44.71056255208305, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -261.22785474494697, + -47.30863876343636, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -259.72785474494697, + -49.90671497478968, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -258.22785474494697, + -52.504791186142995, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -256.72785474494697, + -55.10286739749631, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -255.22785474494697, + -57.70094360884963, + 0.9741744145173534 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -253.72785474494697, + -60.29901982020294, + 0.9741744145173534 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-23-46_2416949/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-23-46_2416949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72f5112d87d99fc17676a92044d0bbafb5fe3921 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-23-46_2416949/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1360.009925794866, + -152.44788857615475, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1358.509925794866, + -155.04596478750807, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1357.009925794866, + -157.64404099886139, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1355.509925794866, + -160.2421172102147, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1354.009925794866, + -162.84019342156802, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1352.509925794866, + -165.43826963292133, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1351.009925794866, + -168.03634584427465, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1349.509925794866, + -170.63442205562797, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1348.009925794866, + -173.23249826698128, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1346.509925794866, + -175.8305744783346, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1345.009925794866, + -178.4286506896879, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1343.509925794866, + -181.02672690104123, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1342.009925794866, + -183.62480311239455, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1340.509925794866, + -186.22287932374786, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1339.009925794866, + -188.82095553510118, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1337.509925794866, + -191.4190317464545, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1336.009925794866, + -194.0171079578078, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1334.509925794866, + -196.61518416916113, + 1.4669725452417106 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1334.509925794866, + -196.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1334.509925794866, + -199.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1334.509925794866, + -202.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1334.509925794866, + -205.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1334.509925794866, + -208.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1334.509925794866, + -211.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1334.509925794866, + -214.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1334.509925794866, + -217.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1334.509925794866, + -220.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1334.509925794866, + -223.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1334.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1334.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1334.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1334.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1334.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1337.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1340.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1343.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1346.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1349.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1352.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1355.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1358.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1361.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1364.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1367.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1370.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1370.509925794866, + -226.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1373.1080020062193, + -225.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1375.7060782175727, + -223.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1378.304154428926, + -222.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1380.9022306402794, + -220.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1383.5003068516328, + -219.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1386.0983830629862, + -217.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1388.6964592743395, + -216.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1391.294535485693, + -214.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1393.8926116970463, + -213.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1396.4906879083997, + -211.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1399.088764119753, + -210.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1401.6868403311064, + -208.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1404.2849165424598, + -207.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1406.8829927538131, + -205.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1409.4810689651665, + -204.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1412.07914517652, + -202.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1414.6772213878733, + -201.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1417.2752975992266, + -199.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1419.87337381058, + -198.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1422.4714500219334, + -196.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1425.0695262332868, + -195.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1427.6676024446401, + -193.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1430.2656786559935, + -192.11518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1432.8637548673469, + -190.61518416916113, + 1.4669725452417106 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1435.4618310787002, + -189.11518416916113, + 1.4669725452417106 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-25-53_1407392292/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-25-53_1407392292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c5ec288172f2ec2189bd22abcbedd808306b696 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-25-53_1407392292/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -377.35683905434024, + 11.488083437814751, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -375.85683905434024, + 8.890007226461435, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -374.35683905434024, + 6.291931015108119, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -372.85683905434024, + 3.693854803754803, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -371.35683905434024, + 1.0957785924014871, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -369.85683905434024, + -1.502297618951829, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -368.35683905434024, + -4.100373830305145, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -366.85683905434024, + -6.698450041658461, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -365.35683905434024, + -9.296526253011777, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -363.85683905434024, + -11.894602464365093, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -362.35683905434024, + -14.492678675718409, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -360.85683905434024, + -17.090754887071725, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -359.35683905434024, + -19.68883109842504, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -357.85683905434024, + -22.286907309778357, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -356.35683905434024, + -24.884983521131673, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -354.85683905434024, + -27.48305973248499, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -353.35683905434024, + -30.081135943838305, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -351.85683905434024, + -32.67921215519162, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -350.35683905434024, + -35.27728836654494, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -348.85683905434024, + -37.87536457789825, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -347.35683905434024, + -40.47344078925157, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -345.85683905434024, + -43.071517000604885, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -344.35683905434024, + -45.6695932119582, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -342.85683905434024, + -48.26766942331152, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -341.35683905434024, + -50.86574563466483, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -339.85683905434024, + -53.46382184601815, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -338.35683905434024, + -56.061898057371465, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -336.85683905434024, + -58.65997426872478, + 1.4988710938450742 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -336.85683905434024, + -58.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -336.85683905434024, + -61.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -336.85683905434024, + -64.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -336.85683905434024, + -67.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -336.85683905434024, + -70.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -336.85683905434024, + -73.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -336.85683905434024, + -76.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -336.85683905434024, + -79.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -336.85683905434024, + -82.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -336.85683905434024, + -85.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -336.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -336.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -336.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -336.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -336.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -333.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -330.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -327.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -324.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -321.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -318.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -315.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -312.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -309.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -306.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -303.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -300.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -300.85683905434024, + -88.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -298.2587628429869, + -87.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -295.6606866316336, + -85.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -293.0626104202803, + -84.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -290.464534208927, + -82.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -287.86645799757366, + -81.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -285.26838178622035, + -79.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -282.67030557486703, + -78.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -280.0722293635137, + -76.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -277.4741531521604, + -75.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -274.8760769408071, + -73.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -272.27800072945377, + -72.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -269.67992451810045, + -70.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -267.08184830674713, + -69.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -264.4837720953938, + -67.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -261.8856958840405, + -66.15997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -259.2876196726872, + -64.65997426872478, + 1.4988710938450742 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -256.68954346133387, + -63.15997426872478, + 1.4988710938450742 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-26-55_389040743/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-26-55_389040743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c511036642f245e90d28d6bf24dee68fd2eb787 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-26-55_389040743/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -112.22383559702939, + -463.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -114.82191180838271, + -462.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -117.41998801973602, + -460.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -120.01806423108934, + -459.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -122.61614044244266, + -457.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -125.21421665379597, + -456.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -127.81229286514929, + -454.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -130.4103690765026, + -453.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -133.00844528785592, + -451.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -135.60652149920924, + -450.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -138.20459771056255, + -448.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -140.80267392191587, + -447.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -143.40075013326918, + -445.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -145.9988263446225, + -444.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -148.59690255597582, + -442.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -151.19497876732913, + -441.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -153.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -153.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -156.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -162.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -165.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -168.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -171.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -174.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -177.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -180.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -183.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -186.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -189.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -192.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -195.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -198.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -201.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -201.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -201.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -201.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -201.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -201.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -201.79305497868245, + -439.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -199.19497876732913, + -438.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -196.59690255597582, + -436.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -193.9988263446225, + -435.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -191.40075013326918, + -433.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -188.80267392191587, + -432.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -186.20459771056255, + -430.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -183.60652149920924, + -429.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -181.00844528785592, + -427.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -178.4103690765026, + -426.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -175.8122928651493, + -424.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -173.21421665379597, + -423.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -170.61614044244266, + -421.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -168.01806423108934, + -420.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -165.41998801973602, + -418.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -162.8219118083827, + -417.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -160.2238355970294, + -415.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -157.62575938567608, + -414.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -155.02768317432276, + -412.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -152.42960696296944, + -411.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -149.83153075161613, + -409.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -147.2334545402628, + -408.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -144.6353783289095, + -406.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -142.03730211755618, + -405.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -139.43922590620286, + -403.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -136.84114969484955, + -402.4072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -134.24307348349623, + -400.9072574583001, + -3.0942420810461373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -131.64499727214292, + -399.4072574583001, + -3.0942420810461373 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-28-10_1433102829/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-28-10_1433102829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80688153b4471db06296b50c7aabe10c7a423ddb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-28-10_1433102829/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 518.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 521.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 524.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 527.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 530.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 533.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 536.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 539.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 542.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 545.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 548.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 551.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 554.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 557.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 560.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 563.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 566.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 569.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 572.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 575.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 578.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 581.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 584.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 587.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 587.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 587.5240315284785, + 55.12800348302641, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 589.0240315284785, + 52.529927271673095, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 590.5240315284785, + 49.93185106031978, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 592.0240315284785, + 47.33377484896646, + -2.6613211840038895 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 592.0240315284785, + 47.33377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 594.6221077398318, + 45.83377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 597.2201839511852, + 44.33377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 599.8182601625385, + 42.83377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 602.4163363738919, + 41.33377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 605.0144125852453, + 39.83377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 607.6124887965987, + 38.33377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 610.210565007952, + 36.83377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 612.8086412193054, + 35.33377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 615.4067174306588, + 33.83377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 618.0047936420121, + 32.33377484896646, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 620.6028698533655, + 30.833774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 623.2009460647189, + 29.333774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 625.7990222760723, + 27.833774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 628.3970984874256, + 26.333774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 630.995174698779, + 24.833774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 633.5932509101324, + 23.333774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 636.1913271214858, + 21.833774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 638.7894033328391, + 20.333774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 641.3874795441925, + 18.833774848966463, + -2.6613211840038895 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 641.3874795441925, + 18.833774848966463, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 642.8874795441925, + 16.235698637613147, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 644.3874795441925, + 13.637622426259831, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 645.8874795441925, + 11.039546214906515, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 647.3874795441925, + 8.4414700035532, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 648.8874795441925, + 5.843393792199883, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 650.3874795441925, + 3.2453175808465673, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 651.8874795441925, + 0.6472413694932513, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 653.3874795441925, + -1.9508348418600647, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 654.8874795441925, + -4.548911053213381, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 656.3874795441925, + -7.146987264566697, + -2.6613211840038895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 657.8874795441925, + -9.745063475920013, + -2.6613211840038895 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-28-39_1887658390/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-28-39_1887658390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..912ab240e952f610e102c450f425085968415d4b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-28-39_1887658390/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 788.6291499917685, + -470.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 791.2272262031217, + -469.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 793.8253024144751, + -467.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 796.4233786258285, + -466.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 799.0214548371819, + -464.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 801.6195310485352, + -463.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 804.2176072598886, + -461.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 806.815683471242, + -460.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 809.4137596825954, + -458.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 812.0118358939487, + -457.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 814.6099121053021, + -455.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 817.2079883166555, + -454.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 819.8060645280088, + -452.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 822.4041407393622, + -451.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 825.0022169507156, + -449.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 827.600293162069, + -448.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 830.1983693734223, + -446.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 832.7964455847757, + -445.3557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 835.3945217961291, + -443.8557667759119, + 2.6050053668760143 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 835.3945217961291, + -443.8557667759119, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 836.8945217961291, + -441.2576905645586, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 838.3945217961291, + -438.65961435320526, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 839.8945217961291, + -436.06153814185194, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 841.3945217961291, + -433.4634619304986, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 842.8945217961291, + -430.8653857191453, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 844.3945217961291, + -428.267309507792, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 845.8945217961291, + -425.6692332964387, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 847.3945217961291, + -423.07115708508536, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 848.8945217961291, + -420.47308087373204, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 850.3945217961291, + -417.87500466237873, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 851.8945217961291, + -415.2769284510254, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 853.3945217961291, + -412.6788522396721, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 854.8945217961291, + -410.0807760283188, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 856.3945217961291, + -407.48269981696546, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 857.8945217961291, + -404.88462360561215, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 859.3945217961291, + -402.28654739425883, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 860.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 860.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 860.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 860.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 863.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 866.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 869.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 872.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 875.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 878.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 881.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 884.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 887.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 890.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 893.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 896.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 899.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 902.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 905.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 908.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 911.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 914.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 917.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 920.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 923.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 926.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 929.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 932.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 935.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 938.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 941.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 941.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 941.8945217961291, + -399.6884711829055, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 943.3945217961291, + -397.0903949715522, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 944.8945217961291, + -394.4923187601989, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 946.3945217961291, + -391.89424254884557, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 947.8945217961291, + -389.29616633749225, + 2.6050053668760143 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 947.8945217961291, + -389.29616633749225, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 950.4925980074825, + -387.79616633749225, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 953.0906742188358, + -386.29616633749225, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 955.6887504301892, + -384.79616633749225, + 2.6050053668760143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 958.2868266415426, + -383.29616633749225, + 2.6050053668760143 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-29-15_1402961682/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-29-15_1402961682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70f00c1330749ac26f542862f630f4aee56d169f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-29-15_1402961682/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1335.1072740822412, + -294.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1332.5091978708879, + -292.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1329.9111216595345, + -291.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1327.3130454481811, + -289.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1324.7149692368278, + -288.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1322.1168930254744, + -286.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1319.518816814121, + -285.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1316.9207406027676, + -283.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1314.3226643914143, + -282.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1311.724588180061, + -280.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1309.1265119687075, + -279.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1306.5284357573541, + -277.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1303.9303595460008, + -276.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1301.3322833346474, + -274.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1298.734207123294, + -273.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1296.1361309119407, + -271.6665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1293.5380547005873, + -270.1665086859082, + 2.8500760996489554 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1293.5380547005873, + -270.1665086859082, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1292.0380547005873, + -267.56843247455487, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1290.5380547005873, + -264.97035626320155, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1289.0380547005873, + -262.37228005184824, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1287.5380547005873, + -259.7742038404949, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1286.0380547005873, + -257.1761276291416, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1284.5380547005873, + -254.5780514177883, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1283.0380547005873, + -251.97997520643497, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1281.5380547005873, + -249.38189899508166, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1280.0380547005873, + -246.78382278372834, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1278.5380547005873, + -244.18574657237502, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1277.0380547005873, + -241.5876703610217, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1275.5380547005873, + -238.9895941496684, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1274.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1274.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1274.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1274.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1274.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1274.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1277.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1280.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1283.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1286.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1289.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1292.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1295.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1298.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1301.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1304.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1307.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1310.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1310.0380547005873, + -236.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1312.6361309119407, + -234.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1315.234207123294, + -233.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1317.8322833346474, + -231.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1320.4303595460008, + -230.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1323.0284357573541, + -228.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1325.6265119687075, + -227.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1328.224588180061, + -225.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1330.8226643914143, + -224.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1333.4207406027676, + -222.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1336.018816814121, + -221.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1338.6168930254744, + -219.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1341.2149692368278, + -218.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1343.8130454481811, + -216.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1346.4111216595345, + -215.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1349.0091978708879, + -213.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1351.6072740822412, + -212.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1354.2053502935946, + -210.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1356.803426504948, + -209.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1359.4015027163014, + -207.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1361.9995789276547, + -206.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1364.597655139008, + -204.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1367.1957313503615, + -203.39151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1369.7938075617149, + -201.89151793831508, + 2.8500760996489554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1372.3918837730682, + -200.39151793831508, + 2.8500760996489554 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-3-25_1144278050/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-3-25_1144278050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68113a8eb5485884cda854f446f803585eeec1d2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-3-25_1144278050/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 392.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 398.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 401.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 404.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 407.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 410.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 416.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 422.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 425.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 428.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 431.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 434.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 437.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 440.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 443.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 446.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 449.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 452.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 455.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 458.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 458.2595798167602, + -373.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 460.8576560281135, + -374.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 463.45573223946684, + -376.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 466.05380845082016, + -377.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 468.6518846621735, + -379.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 471.2499608735268, + -380.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 473.8480370848801, + -382.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 476.4461132962334, + -383.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 479.04418950758674, + -385.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 481.64226571894005, + -386.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 484.24034193029337, + -388.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 486.8384181416467, + -389.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 489.436494353, + -391.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 492.0345705643533, + -392.66551150887597, + -1.2284295837578467 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 492.0345705643533, + -392.66551150887597, + -1.2284295837578467 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 492.0345705643533, + -392.66551150887597, + -1.2284295837578467 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 492.0345705643533, + -392.66551150887597, + -1.2284295837578467 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 492.0345705643533, + -392.66551150887597, + -1.2284295837578467 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 492.0345705643533, + -392.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 489.436494353, + -394.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 486.8384181416467, + -395.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 484.24034193029337, + -397.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 481.64226571894005, + -398.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 479.04418950758674, + -400.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 476.4461132962334, + -401.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 473.8480370848801, + -403.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 471.2499608735268, + -404.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 468.6518846621735, + -406.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 466.05380845082016, + -407.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 463.45573223946684, + -409.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 460.8576560281135, + -410.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 458.2595798167602, + -412.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 455.6615036054069, + -413.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 453.0634273940536, + -415.16551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 450.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 450.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 447.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 444.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 441.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 438.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 435.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 432.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 429.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 426.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 423.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 420.46535118270026, + -416.66551150887597, + -1.2284295837578467 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-3-57_332266748/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-3-57_332266748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7a60dd57bbbd2177ebf66f0267d84cd1f9d7ac7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-3-57_332266748/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1457.1364758542902, + -294.2892991902957, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1454.5383996429368, + -292.7892991902957, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1451.9403234315835, + -291.2892991902957, + -4.613570091846069 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1451.9403234315835, + -291.2892991902957, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1450.4403234315835, + -288.6912229789424, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1448.9403234315835, + -286.0931467675891, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1447.4403234315835, + -283.49507055623576, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1445.9403234315835, + -280.89699434488244, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1444.4403234315835, + -278.2989181335291, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1442.9403234315835, + -275.7008419221758, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1441.4403234315835, + -273.1027657108225, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1439.9403234315835, + -270.5046894994692, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1438.4403234315835, + -267.90661328811586, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1436.9403234315835, + -265.30853707676255, + -4.613570091846069 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1436.9403234315835, + -265.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1436.9403234315835, + -262.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1436.9403234315835, + -259.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1436.9403234315835, + -256.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1436.9403234315835, + -253.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1436.9403234315835, + -250.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1436.9403234315835, + -247.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1436.9403234315835, + -244.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1436.9403234315835, + -241.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1436.9403234315835, + -238.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1436.9403234315835, + -235.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1436.9403234315835, + -232.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1436.9403234315835, + -229.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1436.9403234315835, + -226.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1436.9403234315835, + -223.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1436.9403234315835, + -220.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1436.9403234315835, + -217.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1436.9403234315835, + -214.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1436.9403234315835, + -211.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1436.9403234315835, + -208.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1436.9403234315835, + -205.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1436.9403234315835, + -202.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1436.9403234315835, + -199.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1436.9403234315835, + -196.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1436.9403234315835, + -193.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1436.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1436.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1436.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1436.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1436.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1439.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1442.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1442.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1442.9403234315835, + -190.30853707676255, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1444.4403234315835, + -187.71046086540923, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1445.9403234315835, + -185.11238465405592, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1447.4403234315835, + -182.5143084427026, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1448.9403234315835, + -179.91623223134928, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1450.4403234315835, + -177.31815601999597, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1451.9403234315835, + -174.72007980864265, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1453.4403234315835, + -172.12200359728934, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1454.9403234315835, + -169.52392738593602, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1456.4403234315835, + -166.9258511745827, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1457.9403234315835, + -164.3277749632294, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1459.4403234315835, + -161.72969875187607, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1460.9403234315835, + -159.13162254052276, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1462.4403234315835, + -156.53354632916944, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1463.9403234315835, + -153.93547011781612, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1465.4403234315835, + -151.3373939064628, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1466.9403234315835, + -148.7393176951095, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1468.4403234315835, + -146.14124148375618, + -4.613570091846069 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1468.4403234315835, + -146.14124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1471.0383996429368, + -144.64124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1473.6364758542902, + -143.14124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1476.2345520656436, + -141.64124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1478.832628276997, + -140.14124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1481.4307044883503, + -138.64124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1484.0287806997037, + -137.14124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1486.626856911057, + -135.64124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1489.2249331224104, + -134.14124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1491.8230093337638, + -132.64124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1494.4210855451172, + -131.14124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1497.0191617564706, + -129.64124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1499.617237967824, + -128.14124148375618, + -4.613570091846069 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1499.617237967824, + -128.14124148375618, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1501.117237967824, + -125.54316527240286, + -4.613570091846069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1502.617237967824, + -122.94508906104954, + -4.613570091846069 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-30-52_400000569/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-30-52_400000569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ade3f03bfc48cfe3ce10b2e77b7578e6f8880790 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-30-52_400000569/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -62.11568291934101, + -654.0986148377177, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -63.61568291934101, + -656.696691049071, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.11568291934101, + -659.2947672604244, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -66.61568291934101, + -661.8928434717777, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -68.11568291934101, + -664.4909196831311, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -69.61568291934101, + -667.0889958944845, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.11568291934101, + -669.6870721058378, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -72.61568291934101, + -672.2851483171912, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -74.11568291934101, + -674.8832245285446, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -75.61568291934101, + -677.481300739898, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.11568291934101, + -680.0793769512513, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -78.61568291934101, + -682.6774531626047, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -80.11568291934101, + -685.2755293739581, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -81.61568291934101, + -687.8736055853115, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -83.11568291934101, + -690.4716817966648, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -84.61568291934101, + -693.0697580080182, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -86.11568291934101, + -695.6678342193716, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -87.61568291934101, + -698.265910430725, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -89.11568291934101, + -700.8639866420783, + 0.09534313745181144 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -89.11568291934101, + -700.8639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -91.71375913069433, + -702.3639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -94.31183534204764, + -703.8639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -96.90991155340096, + -705.3639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -99.50798776475428, + -706.8639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -102.10606397610759, + -708.3639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -104.70414018746091, + -709.8639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -107.30221639881422, + -711.3639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -109.90029261016754, + -712.8639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -112.49836882152086, + -714.3639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -115.09644503287417, + -715.8639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -117.69452124422749, + -717.3639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -120.2925974555808, + -718.8639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -122.89067366693412, + -720.3639866420783, + 0.09534313745181144 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -122.89067366693412, + -720.3639866420783, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -124.39067366693412, + -722.9620628534317, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -125.89067366693412, + -725.5601390647851, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -127.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -127.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -127.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -127.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -127.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -124.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -121.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -118.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -115.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -112.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -109.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -106.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -103.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -100.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -97.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -94.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -91.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -88.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -85.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -82.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -79.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -76.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -73.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -70.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -67.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -64.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -61.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -58.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -55.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -52.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -49.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -46.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -43.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -40.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -37.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -34.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -31.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -31.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -31.39067366693412, + -728.1582152761384, + 0.09534313745181144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -29.89067366693412, + -725.5601390647851, + 0.09534313745181144 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-32-23_1780172261/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-32-23_1780172261/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26f4fccfd0925266797b5ff26ae87415591d0280 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-32-23_1780172261/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -243.23615269707855, + -330.93820212999225, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -241.73615269707855, + -333.53627834134556, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -240.23615269707855, + -336.1343545526989, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -238.73615269707855, + -338.7324307640522, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -237.23615269707855, + -341.3305069754055, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -235.73615269707855, + -343.92858318675883, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -234.23615269707855, + -346.52665939811214, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -232.73615269707855, + -349.12473560946546, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -231.23615269707855, + -351.7228118208188, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -229.73615269707855, + -354.3208880321721, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -228.23615269707855, + -356.9189642435254, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -226.73615269707855, + -359.5170404548787, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -225.23615269707855, + -362.11511666623204, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -223.73615269707855, + -364.71319287758536, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -222.23615269707855, + -367.3112690889387, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -220.73615269707855, + -369.909345300292, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -219.23615269707855, + -372.5074215116453, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -217.73615269707855, + -375.1054977229986, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -216.23615269707855, + -377.70357393435194, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -214.73615269707855, + -380.30165014570525, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -213.23615269707855, + -382.89972635705857, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -211.73615269707855, + -385.4978025684119, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -210.23615269707855, + -388.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -208.73615269707855, + -390.6939549911185, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -207.23615269707855, + -393.29203120247183, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -205.73615269707855, + -395.89010741382515, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -204.23615269707855, + -398.48818362517846, + 4.257779969233104 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -204.23615269707855, + -398.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -204.23615269707855, + -401.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -204.23615269707855, + -404.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -204.23615269707855, + -407.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -204.23615269707855, + -410.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -204.23615269707855, + -413.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -204.23615269707855, + -416.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -204.23615269707855, + -419.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -204.23615269707855, + -422.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -204.23615269707855, + -425.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -204.23615269707855, + -428.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -204.23615269707855, + -431.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -204.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -204.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -204.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -204.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -201.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -198.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -195.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -192.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -189.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -186.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -183.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -183.23615269707855, + -434.48818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -180.63807648572524, + -432.98818362517846, + 4.257779969233104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -180.63807648572524, + -432.98818362517846, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -179.13807648572524, + -430.39010741382515, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -177.63807648572524, + -427.79203120247183, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -176.13807648572524, + -425.1939549911185, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -174.63807648572524, + -422.5958787797652, + 4.257779969233104 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -174.63807648572524, + -422.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -172.04000027437192, + -421.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -169.4419240630186, + -419.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -166.8438478516653, + -418.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -164.24577164031197, + -416.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -161.64769542895866, + -415.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -159.04961921760534, + -413.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -156.45154300625202, + -412.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -153.8534667948987, + -410.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -151.2553905835454, + -409.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -148.65731437219208, + -407.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -146.05923816083876, + -406.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -143.46116194948544, + -404.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -140.86308573813213, + -403.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -138.2650095267788, + -401.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -135.6669333154255, + -400.0958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -133.06885710407218, + -398.5958787797652, + 4.257779969233104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -130.47078089271886, + -397.0958787797652, + 4.257779969233104 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-33-42_1941690360/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-33-42_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9730034124c571f01ad4d841b73603fe9f4ce55 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-33-42_1941690360/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -39.99298208129241, + -102.20433653500206, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -41.49298208129241, + -104.80241274635537, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -42.99298208129241, + -107.40048895770869, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -44.49298208129241, + -109.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -44.49298208129241, + -109.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -47.09105829264573, + -111.498565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -49.68913450399904, + -112.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -52.28721071535236, + -114.498565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -54.885286926705675, + -115.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -57.48336313805899, + -117.498565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -60.08143934941231, + -118.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -62.67951556076562, + -120.498565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -65.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -65.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -68.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -71.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -74.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -77.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -80.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -83.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -86.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -89.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -92.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -95.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -98.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -101.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -104.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -107.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -110.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -113.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -116.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -119.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -122.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -125.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -128.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -131.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -131.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -131.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -131.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -131.27759177211894, + -121.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.27759177211894, + -124.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -131.27759177211894, + -127.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -131.27759177211894, + -130.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -131.27759177211894, + -133.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -131.27759177211894, + -136.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -131.27759177211894, + -139.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -131.27759177211894, + -142.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -131.27759177211894, + -145.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -131.27759177211894, + -148.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -131.27759177211894, + -151.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -131.27759177211894, + -154.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -131.27759177211894, + -157.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -131.27759177211894, + -160.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -131.27759177211894, + -163.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -131.27759177211894, + -166.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -131.27759177211894, + -169.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -131.27759177211894, + -172.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -131.27759177211894, + -175.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -131.27759177211894, + -178.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -131.27759177211894, + -181.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -131.27759177211894, + -184.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -131.27759177211894, + -187.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -131.27759177211894, + -190.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -131.27759177211894, + -193.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -131.27759177211894, + -196.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -131.27759177211894, + -199.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -131.27759177211894, + -202.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -131.27759177211894, + -202.998565169062, + -3.649911155774394 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -131.27759177211894, + -202.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -133.87566798347225, + -204.498565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -136.47374419482557, + -205.998565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -139.0718204061789, + -207.498565169062, + -3.649911155774394 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -139.0718204061789, + -207.498565169062, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -140.5718204061789, + -210.09664138041532, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -142.0718204061789, + -212.69471759176864, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -143.5718204061789, + -215.29279380312195, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -145.0718204061789, + -217.89087001447527, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -146.5718204061789, + -220.48894622582858, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -148.0718204061789, + -223.0870224371819, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -149.5718204061789, + -225.68509864853522, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -151.0718204061789, + -228.28317485988853, + -3.649911155774394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -152.5718204061789, + -230.88125107124185, + -3.649911155774394 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-35-21_1516266761/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-35-21_1516266761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63f97ecc20b54563db27bb652d961c9d86e2f860 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-35-21_1516266761/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 119.45489037296204, + 233.5301761815307, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.95489037296204, + 230.93209997017738, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 116.45489037296204, + 228.33402375882406, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 114.95489037296204, + 225.73594754747074, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 113.45489037296204, + 223.13787133611743, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 111.95489037296204, + 220.5397951247641, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 110.45489037296204, + 217.9417189134108, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 108.95489037296204, + 215.34364270205748, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 107.45489037296204, + 212.74556649070416, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 105.95489037296204, + 210.14749027935085, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 104.45489037296204, + 207.54941406799753, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 102.95489037296204, + 204.95133785664422, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 101.45489037296204, + 202.3532616452909, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 99.95489037296204, + 199.75518543393758, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 98.45489037296204, + 197.15710922258427, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 96.95489037296204, + 194.55903301123095, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 95.45489037296204, + 191.96095679987764, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 93.95489037296204, + 189.36288058852432, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 92.45489037296204, + 186.764804377171, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 90.95489037296204, + 184.1667281658177, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 89.45489037296204, + 181.56865195446437, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 87.95489037296204, + 178.97057574311106, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 86.45489037296204, + 176.37249953175774, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 84.95489037296204, + 173.77442332040442, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 83.45489037296204, + 171.1763471090511, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 81.95489037296204, + 168.5782708976978, + -3.0393968402601095 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 81.95489037296204, + 168.5782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 79.35681416160872, + 167.0782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 76.75873795025541, + 165.5782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 74.16066173890209, + 164.0782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 71.56258552754878, + 162.5782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 68.96450931619546, + 161.0782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 66.36643310484214, + 159.5782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 63.76835689348883, + 158.0782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 61.17028068213551, + 156.5782708976978, + -3.0393968402601095 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 61.17028068213551, + 156.5782708976978, + -3.0393968402601095 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 61.17028068213551, + 156.5782708976978, + -3.0393968402601095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 61.17028068213551, + 156.5782708976978, + -3.0393968402601095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 61.17028068213551, + 156.5782708976978, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 62.67028068213551, + 153.98019468634448, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 64.17028068213551, + 151.38211847499116, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 65.67028068213551, + 148.78404226363784, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 67.17028068213551, + 146.18596605228453, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 68.67028068213551, + 143.5878898409312, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 70.17028068213551, + 140.9898136295779, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 71.67028068213551, + 138.39173741822458, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 73.17028068213551, + 135.79366120687126, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 74.67028068213551, + 133.19558499551795, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 76.17028068213551, + 130.59750878416463, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 77.67028068213551, + 127.99943257281132, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 79.17028068213551, + 125.401356361458, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 80.67028068213551, + 122.80328015010468, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 82.17028068213551, + 120.20520393875137, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 83.67028068213551, + 117.60712772739805, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 85.17028068213551, + 115.00905151604474, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 86.67028068213551, + 112.41097530469142, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 88.17028068213551, + 109.8128990933381, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 89.67028068213551, + 107.21482288198479, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 91.17028068213551, + 104.61674667063147, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 92.67028068213551, + 102.01867045927816, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 94.17028068213551, + 99.42059424792484, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 95.67028068213551, + 96.82251803657152, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 97.17028068213551, + 94.22444182521821, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 98.67028068213551, + 91.62636561386489, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 100.17028068213551, + 89.02828940251158, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 101.67028068213551, + 86.43021319115826, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 103.17028068213551, + 83.83213697980494, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 104.67028068213551, + 81.23406076845163, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 106.17028068213551, + 78.63598455709831, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 107.67028068213551, + 76.037908345745, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 109.17028068213551, + 73.43983213439168, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 110.67028068213551, + 70.84175592303836, + -3.0393968402601095 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 110.67028068213551, + 70.84175592303836, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 110.67028068213551, + 67.84175592303836, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 110.67028068213551, + 64.84175592303836, + -3.0393968402601095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 110.67028068213551, + 61.84175592303836, + -3.0393968402601095 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-36-35_1175526309/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-36-35_1175526309/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..542745699589be606200308684e7050daa5f0a04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-36-35_1175526309/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -234.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -231.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -228.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -225.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -222.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -219.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -216.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -213.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -210.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -210.75182438899662, + -597.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -208.1537481776433, + -599.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -205.55567196629, + -600.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -202.95759575493668, + -602.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -200.35951954358336, + -603.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -197.76144333223004, + -605.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.16336712087673, + -606.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -192.5652909095234, + -608.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -189.9672146981701, + -609.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -187.36913848681678, + -611.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -184.77106227546346, + -612.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -182.17298606411015, + -614.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -179.57490985275683, + -615.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -176.97683364140352, + -617.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -174.3787574300502, + -618.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -171.78068121869688, + -620.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -169.18260500734357, + -621.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -166.58452879599025, + -623.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -163.98645258463694, + -624.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -161.38837637328362, + -626.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -158.7903001619303, + -627.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -156.192223950577, + -629.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -153.59414773922367, + -630.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -150.99607152787036, + -632.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -148.39799531651704, + -633.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -145.79991910516372, + -635.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -143.2018428938104, + -636.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -140.6037666824571, + -638.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -138.00569047110378, + -639.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -135.40761425975046, + -641.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -132.80953804839714, + -642.6646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -130.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -130.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -130.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -127.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -124.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -121.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -118.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -115.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -112.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -109.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -106.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -103.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -100.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -100.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -100.21146183704383, + -644.1646566943776, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -98.71146183704383, + -641.5665804830244, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -97.21146183704383, + -638.968504271671, + 3.129277431885093 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -97.21146183704383, + -638.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -94.61338562569051, + -637.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -92.0153094143372, + -635.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -89.41723320298388, + -634.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -86.81915699163056, + -632.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -84.22108078027725, + -631.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -81.62300456892393, + -629.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -79.02492835757062, + -628.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -76.4268521462173, + -626.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -73.82877593486398, + -625.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -71.23069972351067, + -623.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -68.63262351215735, + -622.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -66.03454730080404, + -620.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -63.43647108945072, + -619.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -60.838394878097404, + -617.968504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -58.24031866674409, + -616.468504271671, + 3.129277431885093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -55.64224245539077, + -614.968504271671, + 3.129277431885093 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-37-43_2002495425/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-37-43_2002495425/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..061bdf6b37213b1f5b1abb609a41aca33a759c14 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-37-43_2002495425/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -63.36938485511402, + -630.7012412648767, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -61.86938485511402, + -633.29931747623, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -60.36938485511402, + -635.8973936875834, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -58.86938485511402, + -638.4954698989368, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -57.36938485511402, + -641.0935461102902, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -55.86938485511402, + -643.6916223216435, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -54.36938485511402, + -646.2896985329969, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -52.86938485511402, + -648.8877747443503, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -51.36938485511402, + -651.4858509557037, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -49.86938485511402, + -654.083927167057, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -48.36938485511402, + -656.6820033784104, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -46.86938485511402, + -659.2800795897638, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -45.36938485511402, + -661.8781558011171, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -43.86938485511402, + -664.4762320124705, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -42.36938485511402, + -667.0743082238239, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -40.86938485511402, + -669.6723844351773, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -39.36938485511402, + -672.2704606465306, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -37.86938485511402, + -674.868536857884, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -36.36938485511402, + -677.4666130692374, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -34.86938485511402, + -680.0646892805908, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -33.36938485511402, + -682.6627654919441, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -31.86938485511402, + -685.2608417032975, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -30.36938485511402, + -687.8589179146509, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -28.86938485511402, + -690.4569941260042, + -0.5280720106130063 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -28.86938485511402, + -690.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.86938485511402, + -693.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -28.86938485511402, + -696.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -28.86938485511402, + -699.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -28.86938485511402, + -702.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -28.86938485511402, + -705.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -28.86938485511402, + -708.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -28.86938485511402, + -711.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -28.86938485511402, + -714.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -28.86938485511402, + -717.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -28.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -28.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -28.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -28.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -28.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -25.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -22.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -19.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -16.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -13.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -10.86938485511402, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -7.869384855114021, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -4.869384855114021, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1.8693848551140206, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1.1306151448859794, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4.130615144885979, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 7.130615144885979, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 10.13061514488598, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 13.13061514488598, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 16.13061514488598, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 19.13061514488598, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 22.13061514488598, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 22.13061514488598, + -720.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 24.728691356239295, + -718.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 27.32676756759261, + -717.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 29.924843778945927, + -715.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 32.52291999029924, + -714.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 35.12099620165256, + -712.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 37.719072413005875, + -711.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 40.31714862435919, + -709.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 42.91522483571251, + -708.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 45.51330104706582, + -706.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 48.11137725841914, + -705.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 50.709453469772455, + -703.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 53.30752968112577, + -702.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 55.90560589247909, + -700.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 58.5036821038324, + -699.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 61.10175831518572, + -697.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 63.699834526539036, + -696.4569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 66.29791073789235, + -694.9569941260042, + -0.5280720106130063 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 66.29791073789235, + -694.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 69.29791073789235, + -694.9569941260042, + -0.5280720106130063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 72.29791073789235, + -694.9569941260042, + -0.5280720106130063 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-37-9_1586903190/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-37-9_1586903190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb32cd62038481385252297e235b9149ddb0b621 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-37-9_1586903190/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 116.49533709687233, + -186.45243641431477, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.99533709687233, + -189.0505126256681, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 119.49533709687233, + -191.6485888370214, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 120.99533709687233, + -194.24666504837472, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 122.49533709687233, + -196.84474125972804, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 123.99533709687233, + -199.44281747108136, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 125.49533709687233, + -202.04089368243467, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 126.99533709687233, + -204.638969893788, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 128.49533709687233, + -207.2370461051413, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 129.99533709687233, + -209.83512231649462, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 131.49533709687233, + -212.43319852784794, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 132.99533709687233, + -215.03127473920125, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 134.49533709687233, + -217.62935095055457, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 135.99533709687233, + -220.22742716190788, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 137.49533709687233, + -222.8255033732612, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 138.99533709687233, + -225.42357958461452, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 140.49533709687233, + -228.02165579596783, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 141.99533709687233, + -230.61973200732115, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 143.49533709687233, + -233.21780821867446, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 144.99533709687233, + -235.81588443002778, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 146.49533709687233, + -238.4139606413811, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 147.99533709687233, + -241.0120368527344, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 149.49533709687233, + -243.61011306408773, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 150.99533709687233, + -246.20818927544104, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 152.49533709687233, + -248.80626548679436, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 153.99533709687233, + -251.40434169814768, + -2.4794580028573354 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 153.99533709687233, + -251.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 156.59341330822565, + -252.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 159.19148951957897, + -254.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 161.78956573093228, + -255.90434169814768, + -2.4794580028573354 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 161.78956573093228, + -255.90434169814768, + -2.4794580028573354 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 161.78956573093228, + -255.90434169814768, + -2.4794580028573354 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 161.78956573093228, + -255.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 164.3876419422856, + -254.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 166.9857181536389, + -252.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 169.58379436499223, + -251.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 172.18187057634555, + -249.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 174.77994678769886, + -248.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 177.37802299905218, + -246.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 179.9760992104055, + -245.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 182.5741754217588, + -243.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 185.17225163311213, + -242.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 187.77032784446544, + -240.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 190.36840405581876, + -239.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 192.96648026717207, + -237.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 195.5645564785254, + -236.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 198.1626326898787, + -234.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 200.76070890123202, + -233.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 203.35878511258534, + -231.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 205.95686132393865, + -230.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 208.55493753529197, + -228.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 211.15301374664529, + -227.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 213.7510899579986, + -225.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 216.34916616935192, + -224.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 218.94724238070523, + -222.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 221.54531859205855, + -221.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 224.14339480341187, + -219.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 226.74147101476518, + -218.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 229.3395472261185, + -216.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 231.9376234374718, + -215.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 234.53569964882513, + -213.90434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 237.13377586017845, + -212.40434169814768, + -2.4794580028573354 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 237.13377586017845, + -212.40434169814768, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 238.63377586017845, + -209.80626548679436, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 240.13377586017845, + -207.20818927544104, + -2.4794580028573354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 241.63377586017845, + -204.61011306408773, + -2.4794580028573354 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-38-18_500618996/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-38-18_500618996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e341f37f4d31162bd62936d3aed31d848eb61d1a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-38-18_500618996/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 464.922351258537, + -492.7473906123379, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 463.422351258537, + -490.14931440098457, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 461.922351258537, + -487.55123818963125, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 460.422351258537, + -484.95316197827793, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 458.922351258537, + -482.3550857669246, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 457.422351258537, + -479.7570095555713, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 455.922351258537, + -477.158933344218, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 454.422351258537, + -474.56085713286467, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 452.922351258537, + -471.96278092151135, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 451.422351258537, + -469.36470471015804, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 449.922351258537, + -466.7666284988047, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 448.422351258537, + -464.1685522874514, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 446.922351258537, + -461.5704760760981, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 445.422351258537, + -458.9723998647448, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 443.922351258537, + -456.37432365339146, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 442.422351258537, + -453.77624744203814, + -4.020479868392773 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 442.422351258537, + -453.77624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 439.8242750471837, + -452.27624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 437.22619883583036, + -450.77624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 434.62812262447704, + -449.27624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 432.0300464131237, + -447.77624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 429.4319702017704, + -446.27624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.8338939904171, + -444.77624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 424.2358177790638, + -443.27624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 421.63774156771046, + -441.77624744203814, + -4.020479868392773 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 421.63774156771046, + -441.77624744203814, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 420.13774156771046, + -439.1781712306848, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 418.63774156771046, + -436.5800950193315, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 417.13774156771046, + -433.9820188079782, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 415.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 415.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 415.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 415.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 415.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 415.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 418.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 421.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 424.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 427.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 430.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 433.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 433.63774156771046, + -431.3839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 436.2358177790638, + -429.8839425966249, + -4.020479868392773 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 436.2358177790638, + -429.8839425966249, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 437.7358177790638, + -427.28586638527156, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 439.2358177790638, + -424.68779017391824, + -4.020479868392773 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 439.2358177790638, + -424.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 441.8338939904171, + -423.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 444.4319702017704, + -421.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 447.0300464131237, + -420.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 449.62812262447704, + -418.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 452.22619883583036, + -417.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 454.8242750471837, + -415.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 457.422351258537, + -414.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 460.0204274698903, + -412.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 462.6185036812436, + -411.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 465.21657989259694, + -409.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 467.81465610395026, + -408.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 470.4127323153036, + -406.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 473.0108085266569, + -405.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 475.6088847380102, + -403.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 478.2069609493635, + -402.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 480.80503716071684, + -400.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 483.40311337207015, + -399.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 486.00118958342347, + -397.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 488.5992657947768, + -396.18779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 491.1973420061301, + -394.68779017391824, + -4.020479868392773 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 493.7954182174834, + -393.18779017391824, + -4.020479868392773 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-39-12_1184214677/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-39-12_1184214677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d43beaf96bf3277cd158a902d947771d9c13486 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-39-12_1184214677/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -281.0796987720079, + -214.4063903895377, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -278.48162256065456, + -212.9063903895377, + -2.511066874138634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -278.48162256065456, + -212.9063903895377, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -276.98162256065456, + -210.3083141781844, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -275.48162256065456, + -207.71023796683107, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -273.98162256065456, + -205.11216175547776, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -272.48162256065456, + -202.51408554412444, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -270.98162256065456, + -199.91600933277113, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -269.48162256065456, + -197.3179331214178, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -267.98162256065456, + -194.7198569100645, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -266.48162256065456, + -192.12178069871118, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -264.98162256065456, + -189.52370448735786, + -2.511066874138634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -264.98162256065456, + -189.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -262.38354634930124, + -188.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -259.7854701379479, + -186.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -257.1873939265946, + -185.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -254.5893177152413, + -183.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -251.99124150388798, + -182.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -249.39316529253466, + -180.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -246.79508908118135, + -179.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -244.19701286982803, + -177.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -241.5989366584747, + -176.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -239.0008604471214, + -174.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -236.40278423576808, + -173.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -233.80470802441477, + -171.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -231.20663181306145, + -170.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -228.60855560170813, + -168.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -226.01047939035482, + -167.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -223.4124031790015, + -165.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -220.81432696764819, + -164.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -218.21625075629487, + -162.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -215.61817454494155, + -161.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -213.02009833358824, + -159.52370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -210.42202212223492, + -158.02370448735786, + -2.511066874138634 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -210.42202212223492, + -158.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -207.42202212223492, + -158.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -204.42202212223492, + -158.02370448735786, + -2.511066874138634 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -204.42202212223492, + -158.02370448735786, + -2.511066874138634 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -204.42202212223492, + -158.02370448735786, + -2.511066874138634 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.42202212223492, + -158.02370448735786, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -202.92202212223492, + -160.62178069871118, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -201.42202212223492, + -163.2198569100645, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -199.92202212223492, + -165.8179331214178, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -198.42202212223492, + -168.41600933277113, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -196.92202212223492, + -171.01408554412444, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -195.42202212223492, + -173.61216175547776, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -193.92202212223492, + -176.21023796683107, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -192.42202212223492, + -178.8083141781844, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -190.92202212223492, + -181.4063903895377, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -189.42202212223492, + -184.00446660089102, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -187.92202212223492, + -186.60254281224434, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -186.42202212223492, + -189.20061902359765, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -184.92202212223492, + -191.79869523495097, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -183.42202212223492, + -194.39677144630429, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -181.92202212223492, + -196.9948476576576, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -180.42202212223492, + -199.59292386901092, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -178.92202212223492, + -202.19100008036423, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -177.42202212223492, + -204.78907629171755, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -175.92202212223492, + -207.38715250307087, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -174.42202212223492, + -209.98522871442418, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -172.92202212223492, + -212.5833049257775, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -171.42202212223492, + -215.1813811371308, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -169.92202212223492, + -217.77945734848413, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -168.42202212223492, + -220.37753355983745, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -166.92202212223492, + -222.97560977119076, + -2.511066874138634 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -166.92202212223492, + -222.97560977119076, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -164.3239459108816, + -224.47560977119076, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -161.7258696995283, + -225.97560977119076, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -159.12779348817497, + -227.47560977119076, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -156.52971727682166, + -228.97560977119076, + -2.511066874138634 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -156.52971727682166, + -228.97560977119076, + -2.511066874138634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -155.02971727682166, + -231.57368598254408, + -2.511066874138634 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-4-37_1192707556/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-4-37_1192707556/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edce64d114c4e3a082eb1278c5b4a914340beb7f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-4-37_1192707556/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.05310591659276, + -662.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 42.45502970523945, + -660.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 39.85695349388613, + -659.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 37.258877282532815, + -657.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 34.6608010711795, + -656.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 32.06272485982618, + -654.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 29.464648648472867, + -653.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 26.86657243711955, + -651.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 24.268496225766235, + -650.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 21.67042001441292, + -648.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 19.072343803059603, + -647.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.474267591706287, + -645.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 13.87619138035297, + -644.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 11.278115168999655, + -642.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 8.680038957646339, + -641.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 6.081962746293023, + -639.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3.483886534939707, + -638.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 0.8858103235863908, + -636.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1.7122658877669252, + -635.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -4.310342099120241, + -633.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -6.908418310473557, + -632.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -9.506494521826873, + -630.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -12.10457073318019, + -629.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -14.702646944533505, + -627.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -17.30072315588682, + -626.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -19.898799367240137, + -624.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -22.496875578593453, + -623.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -25.09495178994677, + -621.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -27.693028001300085, + -620.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -30.2911042126534, + -618.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -32.88918042400672, + -617.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -35.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -35.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -38.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -41.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -44.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -47.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -50.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -47.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -44.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -41.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -38.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -35.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -32.48725663536003, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -29.487256635360033, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -26.487256635360033, + -615.8749739222035, + -1.017294105629452 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -26.487256635360033, + -615.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -23.889180424006717, + -614.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -21.2911042126534, + -612.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -18.693028001300085, + -611.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -16.09495178994677, + -609.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -13.496875578593453, + -608.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -10.898799367240137, + -606.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -8.300723155886821, + -605.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -5.702646944533505, + -603.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -3.1045707331801893, + -602.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -0.5064945218268733, + -600.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 2.0915816895264427, + -599.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 4.689657900879759, + -597.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 7.287734112233075, + -596.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 9.88581032358639, + -594.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 12.483886534939707, + -593.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 15.081962746293023, + -591.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 17.68003895764634, + -590.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 20.278115168999655, + -588.8749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 22.87619138035297, + -587.3749739222035, + -1.017294105629452 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 22.87619138035297, + -587.3749739222035, + -1.017294105629452 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 25.87619138035297, + -587.3749739222035, + -1.017294105629452 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-40-20_1061730690/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-40-20_1061730690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c856666672e24c55c794de632ed2bd5a88be729 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-40-20_1061730690/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -302.17779621779107, + -161.3570220100871, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -300.67779621779107, + -158.75894579873378, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -299.17779621779107, + -156.16086958738046, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -297.67779621779107, + -153.56279337602714, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -296.17779621779107, + -150.96471716467383, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -294.67779621779107, + -148.3666409533205, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -293.17779621779107, + -145.7685647419672, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.67779621779107, + -143.17048853061388, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -290.17779621779107, + -140.57241231926056, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -288.67779621779107, + -137.97433610790725, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -287.17779621779107, + -135.37625989655393, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -285.67779621779107, + -132.77818368520062, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -284.17779621779107, + -130.1801074738473, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -282.67779621779107, + -127.58203126249398, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -281.17779621779107, + -124.98395505114067, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -279.67779621779107, + -122.38587883978735, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -278.17779621779107, + -119.78780262843404, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -276.67779621779107, + -117.18972641708072, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -275.17779621779107, + -114.5916502057274, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -273.67779621779107, + -111.99357399437409, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -272.17779621779107, + -109.39549778302077, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -270.67779621779107, + -106.79742157166746, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -269.17779621779107, + -104.19934536031414, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -267.67779621779107, + -101.60126914896082, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -266.17779621779107, + -99.00319293760751, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -264.67779621779107, + -96.40511672625419, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -263.17779621779107, + -93.80704051490088, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -261.67779621779107, + -91.20896430354756, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -260.17779621779107, + -88.61088809219424, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -258.67779621779107, + -86.01281188084093, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -257.17779621779107, + -83.41473566948761, + 3.2573862263700732 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -257.17779621779107, + -83.41473566948761, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -257.17779621779107, + -80.41473566948761, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -257.17779621779107, + -77.41473566948761, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -257.17779621779107, + -74.41473566948761, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -257.17779621779107, + -71.41473566948761, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -257.17779621779107, + -68.41473566948761, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -257.17779621779107, + -65.41473566948761, + 3.2573862263700732 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -257.17779621779107, + -65.41473566948761, + 3.2573862263700732 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -257.17779621779107, + -65.41473566948761, + 3.2573862263700732 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -257.17779621779107, + -65.41473566948761, + 3.2573862263700732 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -257.17779621779107, + -65.41473566948761, + 3.2573862263700732 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -257.17779621779107, + -65.41473566948761, + 3.2573862263700732 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -257.17779621779107, + -65.41473566948761, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -255.67779621779107, + -68.01281188084093, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -254.17779621779107, + -70.61088809219424, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -252.67779621779107, + -73.20896430354756, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -251.17779621779107, + -75.80704051490088, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -249.67779621779107, + -78.40511672625419, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -248.17779621779107, + -81.00319293760751, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -246.67779621779107, + -83.60126914896082, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -245.17779621779107, + -86.19934536031414, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -243.67779621779107, + -88.79742157166746, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -242.17779621779107, + -91.39549778302077, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -240.67779621779107, + -93.99357399437409, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -239.17779621779107, + -96.5916502057274, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -237.67779621779107, + -99.18972641708072, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -236.17779621779107, + -101.78780262843404, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -234.67779621779107, + -104.38587883978735, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -233.17779621779107, + -106.98395505114067, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -231.67779621779107, + -109.58203126249398, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -230.17779621779107, + -112.1801074738473, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -228.67779621779107, + -114.77818368520062, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -227.17779621779107, + -117.37625989655393, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -225.67779621779107, + -119.97433610790725, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -224.17779621779107, + -122.57241231926056, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -222.67779621779107, + -125.17048853061388, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -221.17779621779107, + -127.7685647419672, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -219.67779621779107, + -130.3666409533205, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -218.17779621779107, + -132.96471716467383, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -216.67779621779107, + -135.56279337602714, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -215.17779621779107, + -138.16086958738046, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -213.67779621779107, + -140.75894579873378, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -212.17779621779107, + -143.3570220100871, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -210.67779621779107, + -145.9550982214404, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -209.17779621779107, + -148.55317443279372, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -207.67779621779107, + -151.15125064414704, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -206.17779621779107, + -153.74932685550036, + 3.2573862263700732 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -204.67779621779107, + -156.34740306685367, + 3.2573862263700732 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-41-28_2016764524/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-41-28_2016764524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..884bda744c3c3d891052923f0bdde599ee762774 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-41-28_2016764524/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1643.5406463779743, + -19.21426000510948, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1642.0406463779743, + -21.812336216462796, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1640.5406463779743, + -24.410412427816112, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1639.0406463779743, + -27.00848863916943, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1637.5406463779743, + -29.606564850522744, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1636.0406463779743, + -32.20464106187606, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1634.5406463779743, + -34.802717273229376, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1633.0406463779743, + -37.40079348458269, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1631.5406463779743, + -39.99886969593601, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1630.0406463779743, + -42.596945907289324, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1628.5406463779743, + -45.19502211864264, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1627.0406463779743, + -47.793098329995956, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1625.5406463779743, + -50.39117454134927, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1624.0406463779743, + -52.98925075270259, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1622.5406463779743, + -55.587326964055904, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1621.0406463779743, + -58.18540317540922, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1619.5406463779743, + -60.78347938676254, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1618.0406463779743, + -63.38155559811585, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1616.5406463779743, + -65.97963180946917, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1615.0406463779743, + -68.57770802082248, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1613.5406463779743, + -71.1757842321758, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1612.0406463779743, + -73.77386044352912, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1610.5406463779743, + -76.37193665488243, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1609.0406463779743, + -78.97001286623575, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1607.5406463779743, + -81.56808907758906, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1606.0406463779743, + -84.16616528894238, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1604.5406463779743, + -86.7642415002957, + -2.373239349231225 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1604.5406463779743, + -86.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1604.5406463779743, + -89.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1604.5406463779743, + -92.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1604.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1604.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1604.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1604.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1604.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1601.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1598.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1595.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1592.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1589.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1586.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1583.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1580.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1577.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1574.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1571.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1568.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1565.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1562.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1559.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1556.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1553.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1550.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1547.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1547.5406463779743, + -95.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1544.942570166621, + -97.2642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1542.3444939552676, + -98.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1539.7464177439142, + -100.2642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1537.1483415325608, + -101.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1534.5502653212075, + -103.2642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1531.952189109854, + -104.7642415002957, + -2.373239349231225 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1529.3541128985007, + -106.2642415002957, + -2.373239349231225 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-43-6_1276673168/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-43-6_1276673168/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e82659ae36b85fc6e60fb471a501666b6a4c3717 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-43-6_1276673168/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -18.683462123478307, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.683462123478307, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -12.683462123478307, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -9.683462123478307, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -6.683462123478307, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -3.683462123478307, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -0.6834621234783071, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 5.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 8.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 11.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 14.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 17.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 20.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 23.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 26.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 29.316537876521693, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 32.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 35.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 38.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 41.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 44.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 47.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 50.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 53.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 56.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 59.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 62.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 65.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 68.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 71.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 74.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 74.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 76.91461408787501, + -411.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 79.51269029922832, + -410.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 82.11076651058164, + -408.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 84.70884272193496, + -407.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 87.30691893328827, + -405.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 84.70884272193496, + -407.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 82.11076651058164, + -408.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 79.51269029922832, + -410.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 76.91461408787501, + -411.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 74.31653787652169, + -413.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 71.71846166516838, + -414.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 69.12038545381506, + -416.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 66.52230924246174, + -417.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 63.92423303110843, + -419.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 61.32615681975511, + -420.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 58.7280806084018, + -422.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 56.13000439704848, + -423.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 53.531928185695165, + -425.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 50.93385197434185, + -426.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 48.33577576298853, + -428.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 45.73769955163522, + -429.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 43.1396233402819, + -431.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 40.541547128928585, + -432.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 37.94347091757527, + -434.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 35.34539470622195, + -435.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 32.74731849486864, + -437.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 30.14924228351532, + -438.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 27.551166072162005, + -440.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 24.95308986080869, + -441.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 22.355013649455373, + -443.234326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 19.756937438102057, + -444.734326015435, + 4.624232041810345 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 19.756937438102057, + -444.734326015435, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 18.256937438102057, + -447.3324022267883, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 16.756937438102057, + -449.9304784381416, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 15.256937438102057, + -452.52855464949494, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 13.756937438102057, + -455.12663086084825, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 12.256937438102057, + -457.72470707220157, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 10.756937438102057, + -460.3227832835549, + 4.624232041810345 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 10.756937438102057, + -460.3227832835549, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 8.15886122674874, + -461.8227832835549, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 5.560785015395425, + -463.3227832835549, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 2.9627088040421086, + -464.8227832835549, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 0.36463259268879256, + -466.3227832835549, + 4.624232041810345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -2.2334436186645235, + -467.8227832835549, + 4.624232041810345 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-45-48_1877565100/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-45-48_1877565100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca8406112f2c4922cab02a079c60189da84dbfb2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-45-48_1877565100/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 995.849996116638, + -181.01347977487384, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 998.849996116638, + -181.01347977487384, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1001.849996116638, + -181.01347977487384, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1001.849996116638, + -181.01347977487384, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1001.849996116638, + -181.01347977487384, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1003.349996116638, + -183.61155598622716, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1004.849996116638, + -186.20963219758048, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1006.349996116638, + -188.8077084089338, + -2.968772706505881 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1006.349996116638, + -188.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1008.9480723279912, + -190.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1011.5461485393446, + -191.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1014.144224750698, + -193.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1016.7423009620513, + -194.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1019.3403771734047, + -196.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1021.9384533847581, + -197.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1024.5365295961114, + -199.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1027.1346058074648, + -200.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1029.7326820188182, + -202.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1032.3307582301716, + -203.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1034.928834441525, + -205.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1037.5269106528783, + -206.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1040.1249868642317, + -208.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1042.723063075585, + -209.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1045.3211392869384, + -211.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1047.9192154982918, + -212.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1050.5172917096452, + -214.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1053.1153679209986, + -215.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1055.713444132352, + -217.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1058.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1058.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1061.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1064.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1064.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1064.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1064.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1064.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1064.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1064.3115203437053, + -218.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1061.713444132352, + -220.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1059.1153679209986, + -221.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1056.5172917096452, + -223.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1053.9192154982918, + -224.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1051.3211392869384, + -226.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1048.723063075585, + -227.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1046.1249868642317, + -229.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1043.5269106528783, + -230.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1040.928834441525, + -232.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1038.3307582301716, + -233.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1035.7326820188182, + -235.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1033.1346058074648, + -236.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1030.5365295961114, + -238.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1027.938453384758, + -239.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1025.3403771734047, + -241.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1022.7423009620513, + -242.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1020.144224750698, + -244.3077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1017.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1017.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1014.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1011.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1008.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1005.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1002.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 999.5461485393446, + -245.8077084089338, + -2.968772706505881 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-47-32_1630634994/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-47-32_1630634994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9219ed331196f61515ad33a1313f9631d33507ef --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-47-32_1630634994/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 455.25124078383897, + -213.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.65316457248565, + -215.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 450.05508836113233, + -216.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 447.457012149779, + -218.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 444.8589359384257, + -219.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 442.2608597270724, + -221.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 439.66278351571907, + -222.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 437.06470730436575, + -224.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 434.46663109301244, + -225.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 431.8685548816591, + -227.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 429.2704786703058, + -228.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 426.6724024589525, + -230.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 424.0743262475992, + -231.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 421.47625003624586, + -233.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 418.87817382489254, + -234.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 416.2800976135392, + -236.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 413.6820214021859, + -237.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 411.0839451908326, + -239.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 408.4858689794793, + -240.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 405.88779276812596, + -242.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 403.28971655677265, + -243.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 400.69164034541933, + -245.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 398.093564134066, + -246.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 395.4954879227127, + -248.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 392.8974117113594, + -249.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 390.29933550000607, + -251.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 387.70125928865275, + -252.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 385.10318307729943, + -254.41783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 382.5051068659461, + -255.91783957891252, + 0.5416991140246621 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 382.5051068659461, + -255.91783957891252, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 381.0051068659461, + -258.5159157902658, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 379.5051068659461, + -261.1139920016191, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 378.0051068659461, + -263.71206821297244, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 376.5051068659461, + -266.31014442432576, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 375.0051068659461, + -268.9082206356791, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 373.5051068659461, + -271.5062968470324, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 372.0051068659461, + -274.1043730583857, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 370.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 370.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 370.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 370.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 370.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 370.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 373.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 376.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 379.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 382.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 385.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 388.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 391.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 394.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 397.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 400.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 403.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 406.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 409.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 412.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 415.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 418.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 418.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 418.5051068659461, + -276.702449269739, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 420.0051068659461, + -279.30052548109234, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 421.5051068659461, + -281.89860169244565, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 423.0051068659461, + -284.49667790379897, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 424.5051068659461, + -287.0947541151523, + 0.5416991140246621 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 424.5051068659461, + -287.0947541151523, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 427.10318307729943, + -288.5947541151523, + 0.5416991140246621 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 429.70125928865275, + -290.0947541151523, + 0.5416991140246621 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-48-4_1665204916/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-48-4_1665204916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61a5411beb63dd8917fa53db58b043b70f64b0ac --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-48-4_1665204916/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1341.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1344.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1347.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1350.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1353.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1356.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1359.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1362.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1365.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1368.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1371.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1374.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1377.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1380.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1383.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1386.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1389.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1392.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1395.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1398.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1401.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1404.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1407.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1407.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1407.8117942605745, + -75.76691654123678, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1409.3117942605745, + -78.3649927525901, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1410.8117942605745, + -80.96306896394341, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1412.3117942605745, + -83.56114517529673, + 0.42794847079782095 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1412.3117942605745, + -83.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1412.3117942605745, + -86.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1412.3117942605745, + -89.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1412.3117942605745, + -92.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1412.3117942605745, + -95.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1412.3117942605745, + -98.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1412.3117942605745, + -101.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1412.3117942605745, + -104.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1412.3117942605745, + -107.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1412.3117942605745, + -110.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1412.3117942605745, + -113.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1412.3117942605745, + -116.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1412.3117942605745, + -119.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1412.3117942605745, + -122.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1412.3117942605745, + -125.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1412.3117942605745, + -128.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1412.3117942605745, + -131.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1412.3117942605745, + -134.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1412.3117942605745, + -137.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1412.3117942605745, + -140.56114517529673, + 0.42794847079782095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1412.3117942605745, + -140.56114517529673, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1413.8117942605745, + -143.15922138665005, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1415.3117942605745, + -145.75729759800336, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1416.8117942605745, + -148.35537380935668, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1418.3117942605745, + -150.95345002071, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1419.8117942605745, + -153.5515262320633, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1421.3117942605745, + -156.14960244341663, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1422.8117942605745, + -158.74767865476994, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1424.3117942605745, + -161.34575486612326, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1425.8117942605745, + -163.94383107747657, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1427.3117942605745, + -166.5419072888299, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1428.8117942605745, + -169.1399835001832, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1430.3117942605745, + -171.73805971153652, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1431.8117942605745, + -174.33613592288984, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1433.3117942605745, + -176.93421213424315, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1434.8117942605745, + -179.53228834559647, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1436.3117942605745, + -182.1303645569498, + 0.42794847079782095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1437.8117942605745, + -184.7284407683031, + 0.42794847079782095 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-49-53_1297893529/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-49-53_1297893529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0c50f512dd51e2377a780d8da805c865edde0b2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-49-53_1297893529/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -379.6472496252507, + 14.025645828520894, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -378.1472496252507, + 11.427569617167578, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -376.6472496252507, + 8.829493405814262, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -375.1472496252507, + 6.2314171944609456, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -373.6472496252507, + 3.6333409831076295, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -372.1472496252507, + 1.0352647717543135, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -370.6472496252507, + -1.5628114395990025, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -369.1472496252507, + -4.1608876509523185, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -367.6472496252507, + -6.7589638623056345, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -366.1472496252507, + -9.35704007365895, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -364.6472496252507, + -11.955116285012267, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -363.1472496252507, + -14.553192496365583, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -361.6472496252507, + -17.1512687077189, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -360.1472496252507, + -19.749344919072215, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -358.6472496252507, + -22.34742113042553, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -357.1472496252507, + -24.945497341778847, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -355.6472496252507, + -27.543573553132163, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -354.1472496252507, + -30.14164976448548, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -352.6472496252507, + -32.739725975838795, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -351.1472496252507, + -35.33780218719211, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -349.6472496252507, + -37.93587839854543, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -348.1472496252507, + -40.53395460989874, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -346.6472496252507, + -43.13203082125206, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -345.1472496252507, + -45.730107032605375, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -343.6472496252507, + -48.32818324395869, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -342.1472496252507, + -50.92625945531201, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -340.6472496252507, + -53.52433566666532, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -339.1472496252507, + -56.12241187801864, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -337.6472496252507, + -58.720488089371955, + 0.2517437442842727 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -337.6472496252507, + -58.720488089371955, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -337.6472496252507, + -61.720488089371955, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -337.6472496252507, + -64.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -337.6472496252507, + -67.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -337.6472496252507, + -70.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -337.6472496252507, + -73.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -337.6472496252507, + -76.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -337.6472496252507, + -79.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -337.6472496252507, + -82.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -337.6472496252507, + -85.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -337.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -337.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -337.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -337.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -337.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -334.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -331.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -328.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -325.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -322.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -319.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -316.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -313.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -310.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -307.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -307.6472496252507, + -88.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -305.0491734138974, + -87.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -302.4510972025441, + -85.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -299.85302099119076, + -84.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -297.25494477983744, + -82.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -294.65686856848413, + -81.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -292.0587923571308, + -79.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -289.4607161457775, + -78.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -286.8626399344242, + -76.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -284.26456372307086, + -75.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -281.66648751171755, + -73.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -279.06841130036423, + -72.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -276.4703350890109, + -70.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -273.8722588776576, + -69.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -271.2741826663043, + -67.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -268.67610645495097, + -66.22048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -266.07803024359765, + -64.72048808937195, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -263.47995403224434, + -63.220488089371955, + 0.2517437442842727 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -263.47995403224434, + -63.220488089371955, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -260.47995403224434, + -63.220488089371955, + 0.2517437442842727 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -257.47995403224434, + -63.220488089371955, + 0.2517437442842727 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-5-14_31308902/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-5-14_31308902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc4b8778c64d216b92718f7bc531f9e58f7d0153 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-5-14_31308902/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1238.8596692283509, + 341.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1238.8596692283509, + 338.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1238.8596692283509, + 335.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1238.8596692283509, + 332.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1238.8596692283509, + 329.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1238.8596692283509, + 326.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1238.8596692283509, + 323.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1238.8596692283509, + 320.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1238.8596692283509, + 317.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1238.8596692283509, + 314.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1238.8596692283509, + 311.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1238.8596692283509, + 308.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1238.8596692283509, + 305.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1238.8596692283509, + 302.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1238.8596692283509, + 299.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1238.8596692283509, + 296.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1238.8596692283509, + 293.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1238.8596692283509, + 290.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1238.8596692283509, + 287.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1238.8596692283509, + 284.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1238.8596692283509, + 281.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1238.8596692283509, + 278.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1238.8596692283509, + 275.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1238.8596692283509, + 272.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1238.8596692283509, + 269.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1238.8596692283509, + 266.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1238.8596692283509, + 263.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1238.8596692283509, + 260.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1238.8596692283509, + 257.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1238.8596692283509, + 254.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1238.8596692283509, + 251.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1238.8596692283509, + 248.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1238.8596692283509, + 245.2476087937876, + 3.9623769244121085 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1238.8596692283509, + 245.2476087937876, + 3.9623769244121085 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1238.8596692283509, + 245.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1241.4577454397042, + 243.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1244.0558216510576, + 242.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1246.653897862411, + 240.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1249.2519740737644, + 239.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1251.8500502851177, + 237.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1254.448126496471, + 236.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1257.0462027078245, + 234.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1259.6442789191779, + 233.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1262.2423551305312, + 231.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1264.8404313418846, + 230.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1267.438507553238, + 228.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1270.0365837645913, + 227.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1272.6346599759447, + 225.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1275.232736187298, + 224.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1277.8308123986515, + 222.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1280.4288886100048, + 221.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1283.0269648213582, + 219.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1285.6250410327116, + 218.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1288.223117244065, + 216.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1290.8211934554183, + 215.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1293.4192696667717, + 213.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1296.017345878125, + 212.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1298.6154220894784, + 210.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1301.2134983008318, + 209.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1303.8115745121852, + 207.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1306.4096507235386, + 206.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1309.007726934892, + 204.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1311.6058031462453, + 203.2476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1314.2038793575987, + 201.7476087937876, + 3.9623769244121085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1316.801955568952, + 200.2476087937876, + 3.9623769244121085 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-5-45_816504794/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-5-45_816504794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9124fe0747c98f9ee56717683852905a37d4bba --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-5-45_816504794/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -208.56462582147424, + -319.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -205.96654961012092, + -320.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -203.3684733987676, + -322.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -200.7703971874143, + -323.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -198.17232097606097, + -325.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -195.57424476470766, + -326.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -192.97616855335434, + -328.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -190.37809234200103, + -329.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.7800161306477, + -331.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -185.1819399192944, + -332.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -182.58386370794108, + -334.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -179.98578749658776, + -335.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -177.38771128523445, + -337.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -174.78963507388113, + -338.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -172.1915588625278, + -340.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -169.5934826511745, + -341.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -166.99540643982118, + -343.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -164.39733022846787, + -344.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -161.79925401711455, + -346.3807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.20117780576123, + -347.8807445429577, + 0.1573948279269688 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -159.20117780576123, + -347.8807445429577, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -157.70117780576123, + -350.478820754311, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -156.20117780576123, + -353.07689696566433, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -154.70117780576123, + -355.67497317701765, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -153.20117780576123, + -358.27304938837096, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -151.70117780576123, + -360.8711255997243, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -150.20117780576123, + -363.4692018110776, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -148.70117780576123, + -366.0672780224309, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.20117780576123, + -368.6653542337842, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -145.70117780576123, + -371.26343044513754, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -144.20117780576123, + -373.86150665649086, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -142.70117780576123, + -376.4595828678442, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -141.20117780576123, + -379.0576590791975, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -139.70117780576123, + -381.6557352905508, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -138.20117780576123, + -384.2538115019041, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -136.70117780576123, + -386.85188771325744, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -135.20117780576123, + -389.44996392461076, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -133.70117780576123, + -392.0480401359641, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -132.20117780576123, + -394.6461163473174, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -130.70117780576123, + -397.2441925586707, + 0.1573948279269688 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -130.70117780576123, + -397.2441925586707, + 0.1573948279269688 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -130.70117780576123, + -397.2441925586707, + 0.1573948279269688 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -130.70117780576123, + -397.2441925586707, + 0.1573948279269688 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -130.70117780576123, + -397.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -133.29925401711455, + -398.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -135.89733022846787, + -400.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -138.49540643982118, + -401.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -141.0934826511745, + -403.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -143.6915588625278, + -404.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -146.28963507388113, + -406.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -148.88771128523445, + -407.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -151.48578749658776, + -409.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -154.08386370794108, + -410.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -156.6819399192944, + -412.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -159.2800161306477, + -413.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -161.87809234200103, + -415.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -164.47616855335434, + -416.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -167.07424476470766, + -418.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -169.67232097606097, + -419.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -172.2703971874143, + -421.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -174.8684733987676, + -422.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -177.46654961012092, + -424.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -180.06462582147424, + -425.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -182.66270203282755, + -427.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -185.26077824418087, + -428.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -187.85885445553419, + -430.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -190.4569306668875, + -431.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -193.05500687824082, + -433.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -195.65308308959413, + -434.7441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -198.25115930094745, + -436.2441925586707, + 0.1573948279269688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -200.84923551230077, + -437.7441925586707, + 0.1573948279269688 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-54-38_1314218593/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-54-38_1314218593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abc9e3bf2dbbd4c0d9c8cc0977199c62f9122b84 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-54-38_1314218593/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -289.2354523063161, + -86.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -286.6373760949628, + -87.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -284.0392998836095, + -89.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -281.44122367225617, + -90.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -278.84314746090286, + -92.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -276.24507124954954, + -93.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -273.6469950381962, + -95.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -271.0489188268429, + -96.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -268.4508426154896, + -98.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -265.8527664041363, + -99.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -263.25469019278296, + -101.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -260.65661398142964, + -102.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -258.0585377700763, + -104.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -255.460461558723, + -105.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -252.8623853473697, + -107.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -250.26430913601638, + -108.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -247.66623292466306, + -110.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -245.06815671330975, + -111.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -242.47008050195643, + -113.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -239.87200429060312, + -114.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -237.2739280792498, + -116.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -234.67585186789648, + -117.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -232.07777565654317, + -119.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -229.47969944518985, + -120.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -226.88162323383654, + -122.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -224.28354702248322, + -123.78754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -221.6854708111299, + -125.28754782278891, + -4.789695367369519 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -221.6854708111299, + -125.28754782278891, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -220.1854708111299, + -127.88562403414223, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -218.6854708111299, + -130.48370024549553, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965954 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -217.1854708111299, + -133.08177645684884, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -215.6854708111299, + -135.67985266820216, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -214.1854708111299, + -138.27792887955547, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -212.6854708111299, + -140.8760050909088, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -211.1854708111299, + -143.4740813022621, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -209.6854708111299, + -146.07215751361542, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -208.1854708111299, + -148.67023372496874, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -206.6854708111299, + -151.26830993632205, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -205.1854708111299, + -153.86638614767537, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -203.6854708111299, + -156.4644623590287, + -4.789695367369519 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -203.6854708111299, + -156.4644623590287, + -4.789695367369519 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -203.6854708111299, + -156.4644623590287, + -4.789695367369519 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -203.6854708111299, + -156.4644623590287, + -4.789695367369519 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -203.6854708111299, + -156.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -206.28354702248322, + -157.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -208.88162323383654, + -159.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -211.47969944518985, + -160.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -214.07777565654317, + -162.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -216.67585186789648, + -163.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -219.2739280792498, + -165.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -221.87200429060312, + -166.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -224.47008050195643, + -168.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -227.06815671330975, + -169.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -229.66623292466306, + -171.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -232.26430913601638, + -172.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -234.8623853473697, + -174.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -237.460461558723, + -175.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -240.05853777007633, + -177.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -242.65661398142964, + -178.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -245.25469019278296, + -180.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -247.85276640413628, + -181.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -250.4508426154896, + -183.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -253.0489188268429, + -184.9644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -255.64699503819622, + -186.4644623590287, + -4.789695367369519 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -255.64699503819622, + -186.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -258.6469950381962, + -186.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -261.6469950381962, + -186.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -264.6469950381962, + -186.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -267.6469950381962, + -186.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -270.6469950381962, + -186.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -273.6469950381962, + -186.4644623590287, + -4.789695367369519 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -276.6469950381962, + -186.4644623590287, + -4.789695367369519 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-56-52_318561886/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-56-52_318561886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9551cfc84afa9904c2ad7ec13abe6019482ab339 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-56-52_318561886/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 377.52727627122437, + -158.22887857585982, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 379.02727627122437, + -160.82695478721314, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 380.52727627122437, + -163.42503099856646, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.02727627122437, + -166.02310720991977, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 383.52727627122437, + -168.6211834212731, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.02727627122437, + -171.2192596326264, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 386.52727627122437, + -173.81733584397972, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 388.02727627122437, + -176.41541205533304, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.52727627122437, + -179.01348826668635, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 391.02727627122437, + -181.61156447803967, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 392.52727627122437, + -184.20964068939298, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 394.02727627122437, + -186.8077169007463, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 395.52727627122437, + -189.40579311209962, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 397.02727627122437, + -192.00386932345293, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 398.52727627122437, + -194.60194553480625, + -2.7019894519414036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 398.52727627122437, + -194.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 398.52727627122437, + -197.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 398.52727627122437, + -200.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 398.52727627122437, + -203.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 398.52727627122437, + -206.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 398.52727627122437, + -209.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 398.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 398.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 398.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 398.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 398.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 401.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 404.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 407.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 410.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 413.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 416.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 419.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 422.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 425.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 428.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 431.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 434.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 437.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 440.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 443.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 446.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 449.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 452.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 452.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 452.52727627122437, + -212.60194553480625, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 454.02727627122437, + -215.20002174615956, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 455.52727627122437, + -217.79809795751288, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 457.02727627122437, + -220.3961741688662, + -2.7019894519414036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 457.02727627122437, + -220.3961741688662, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 459.6253524825777, + -221.8961741688662, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 462.223428693931, + -223.3961741688662, + -2.7019894519414036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 464.8215049052843, + -224.8961741688662, + -2.7019894519414036 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-6-18_820697697/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-6-18_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cff4ef8f85b79a2c2fa202cd4669cdb157f70ec3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-6-18_820697697/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 110.85126096330902, + -600.890425860038, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 109.35126096330902, + -603.4885020713914, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 107.85126096330902, + -606.0865782827448, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 106.35126096330902, + -608.6846544940981, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 104.85126096330902, + -611.2827307054515, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 103.35126096330902, + -613.8808069168049, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 101.85126096330902, + -616.4788831281583, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 100.35126096330902, + -619.0769593395116, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 98.85126096330902, + -621.675035550865, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 97.35126096330902, + -624.2731117622184, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 95.85126096330902, + -626.8711879735718, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.35126096330902, + -629.4692641849251, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 92.85126096330902, + -632.0673403962785, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.35126096330902, + -634.6654166076319, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 89.85126096330902, + -637.2634928189852, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 88.35126096330902, + -639.8615690303386, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 86.85126096330902, + -642.459645241692, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 85.35126096330902, + -645.0577214530454, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 83.85126096330902, + -647.6557976643987, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 82.35126096330902, + -650.2538738757521, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 80.85126096330902, + -652.8519500871055, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 79.35126096330902, + -655.4500262984589, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 77.85126096330902, + -658.0481025098122, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 76.35126096330902, + -660.6461787211656, + 3.399175231104156 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 76.35126096330902, + -660.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 76.35126096330902, + -663.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 76.35126096330902, + -666.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 76.35126096330902, + -669.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 76.35126096330902, + -672.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 76.35126096330902, + -675.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 76.35126096330902, + -678.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 76.35126096330902, + -681.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 76.35126096330902, + -684.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 76.35126096330902, + -687.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 76.35126096330902, + -690.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 76.35126096330902, + -693.6461787211656, + 3.399175231104156 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 76.35126096330902, + -693.6461787211656, + 3.399175231104156 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 76.35126096330902, + -693.6461787211656, + 3.399175231104156 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 76.35126096330902, + -693.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 73.7531847519557, + -695.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 71.15510854060238, + -696.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 68.55703232924907, + -698.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 65.95895611789575, + -699.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 63.360879906542436, + -701.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 60.76280369518912, + -702.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 58.164727483835804, + -704.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 55.56665127248249, + -705.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 52.96857506112917, + -707.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 50.370498849775856, + -708.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 47.77242263842254, + -710.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 45.174346427069224, + -711.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 42.57627021571591, + -713.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 39.97819400436259, + -714.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 37.380117793009276, + -716.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 34.78204158165596, + -717.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 32.183965370302644, + -719.1461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 29.58588915894933, + -720.6461787211656, + 3.399175231104156 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 29.58588915894933, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 26.58588915894933, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 23.58588915894933, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 20.58588915894933, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 17.58588915894933, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 14.585889158949328, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 11.585889158949328, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 8.585889158949328, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 5.585889158949328, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 2.5858891589493282, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -0.41411084105067175, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -3.4141108410506718, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -6.414110841050672, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -9.414110841050672, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -12.414110841050672, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -15.414110841050672, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -18.41411084105067, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -21.41411084105067, + -720.6461787211656, + 3.399175231104156 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -21.41411084105067, + -720.6461787211656, + 3.399175231104156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -24.012187052403988, + -722.1461787211656, + 3.399175231104156 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-6-52_655858699/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-6-52_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f55a14dfca3f21381210a731d59755c73e3efeb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_2-6-52_655858699/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 273.05531024736564, + 328.64824681959203, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.55531024736564, + 326.0501706082387, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 276.05531024736564, + 323.4520943968854, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 277.55531024736564, + 320.8540181855321, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 279.05531024736564, + 318.25594197417877, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 280.55531024736564, + 315.65786576282545, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 282.05531024736564, + 313.05978955147214, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.55531024736564, + 310.4617133401188, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 285.05531024736564, + 307.8636371287655, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 286.55531024736564, + 305.2655609174122, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 288.05531024736564, + 302.6674847060589, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 289.55531024736564, + 300.06940849470556, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 291.05531024736564, + 297.47133228335224, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.55531024736564, + 294.8732560719989, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 294.05531024736564, + 292.2751798606456, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.55531024736564, + 289.6771036492923, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 297.05531024736564, + 287.079027437939, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 298.55531024736564, + 284.48095122658566, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 300.05531024736564, + 281.88287501523234, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 301.55531024736564, + 279.284798803879, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 303.05531024736564, + 276.6867225925257, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 304.55531024736564, + 274.0886463811724, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 306.05531024736564, + 271.4905701698191, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 307.55531024736564, + 268.89249395846576, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 309.05531024736564, + 266.29441774711245, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 310.55531024736564, + 263.69634153575913, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.05531024736564, + 261.0982653244058, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 313.55531024736564, + 258.5001891130525, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 315.05531024736564, + 255.90211290169918, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 316.55531024736564, + 253.30403669034587, + -0.5969536888820679 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 316.55531024736564, + 253.30403669034587, + -0.5969536888820679 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 316.55531024736564, + 253.30403669034587, + -0.5969536888820679 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 316.55531024736564, + 253.30403669034587, + -0.5969536888820679 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 316.55531024736564, + 253.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 313.9572340360123, + 251.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 311.359157824659, + 250.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 308.7610816133057, + 248.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 306.1630054019524, + 247.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 303.56492919059906, + 245.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 300.96685297924574, + 244.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 298.3687767678924, + 242.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 295.7707005565391, + 241.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 293.1726243451858, + 239.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 290.5745481338325, + 238.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 287.97647192247916, + 236.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 285.37839571112585, + 235.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 282.78031949977253, + 233.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 280.1822432884192, + 232.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 277.5841670770659, + 230.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 274.9860908657126, + 229.30403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 272.38801465435927, + 227.80403669034587, + -0.5969536888820679 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 272.38801465435927, + 227.80403669034587, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 270.88801465435927, + 225.20596047899255, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 269.38801465435927, + 222.60788426763924, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 267.88801465435927, + 220.00980805628592, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 266.38801465435927, + 217.4117318449326, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 264.88801465435927, + 214.8136556335793, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 263.38801465435927, + 212.21557942222597, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 261.88801465435927, + 209.61750321087266, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 260.38801465435927, + 207.01942699951934, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 258.88801465435927, + 204.42135078816602, + -0.5969536888820679 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 258.88801465435927, + 204.42135078816602, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 256.28993844300595, + 202.92135078816602, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 253.69186223165264, + 201.42135078816602, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 251.09378602029932, + 199.92135078816602, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 248.495709808946, + 198.42135078816602, + -0.5969536888820679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 245.8976335975927, + 196.92135078816602, + -0.5969536888820679 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-10-4_1251300606/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-10-4_1251300606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a85614093ecd0f29f8be6b3dfab7c71d60f95a4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-10-4_1251300606/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 241.00998779463916, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 244.00998779463916, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 247.00998779463916, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 250.00998779463916, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 253.00998779463916, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 256.0099877946392, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 259.0099877946392, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.0099877946392, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 265.0099877946392, + 216.90201347047594, + 4.07282716749971 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.0099877946392, + 216.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 267.6080640059925, + 218.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 270.2061402173458, + 219.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 272.80421642869914, + 221.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 275.40229264005245, + 222.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 278.00036885140577, + 224.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 280.5984450627591, + 225.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 283.1965212741124, + 227.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 285.7945974854657, + 228.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 288.39267369681903, + 230.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 290.99074990817235, + 231.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 293.58882611952566, + 233.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 296.186902330879, + 234.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 298.7849785422323, + 236.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 301.3830547535856, + 237.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 303.9811309649389, + 239.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 306.57920717629224, + 240.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.17728338764556, + 242.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.7753595989989, + 243.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 314.3734358103522, + 245.40201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 316.9715120217055, + 246.90201347047594, + 4.07282716749971 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 316.9715120217055, + 246.90201347047594, + 4.07282716749971 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 316.9715120217055, + 246.90201347047594, + 4.07282716749971 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 316.9715120217055, + 246.90201347047594, + 4.07282716749971 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 316.9715120217055, + 246.90201347047594, + 4.07282716749971 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 316.9715120217055, + 246.90201347047594, + 4.07282716749971 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 316.9715120217055, + 246.90201347047594, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 315.4715120217055, + 244.30393725912262, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 313.9715120217055, + 241.7058610477693, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 312.4715120217055, + 239.107784836416, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 310.9715120217055, + 236.50970862506267, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 309.4715120217055, + 233.91163241370936, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 307.9715120217055, + 231.31355620235604, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 306.4715120217055, + 228.71547999100272, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 304.9715120217055, + 226.1174037796494, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 303.4715120217055, + 223.5193275682961, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 301.9715120217055, + 220.92125135694278, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 300.4715120217055, + 218.32317514558946, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 298.9715120217055, + 215.72509893423614, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 297.4715120217055, + 213.12702272288283, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 295.9715120217055, + 210.5289465115295, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 294.4715120217055, + 207.9308703001762, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 292.9715120217055, + 205.33279408882288, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 291.4715120217055, + 202.73471787746956, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 289.9715120217055, + 200.13664166611625, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 288.4715120217055, + 197.53856545476293, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 286.9715120217055, + 194.94048924340962, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 285.4715120217055, + 192.3424130320563, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 283.9715120217055, + 189.74433682070298, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 282.4715120217055, + 187.14626060934967, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 280.9715120217055, + 184.54818439799635, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 279.4715120217055, + 181.95010818664304, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 277.9715120217055, + 179.35203197528972, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 276.4715120217055, + 176.7539557639364, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 274.9715120217055, + 174.1558795525831, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 273.4715120217055, + 171.55780334122977, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 271.9715120217055, + 168.95972712987646, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 270.4715120217055, + 166.36165091852314, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 268.9715120217055, + 163.76357470716982, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 267.4715120217055, + 161.1654984958165, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 265.9715120217055, + 158.5674222844632, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 264.4715120217055, + 155.96934607310988, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 262.9715120217055, + 153.37126986175656, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 261.4715120217055, + 150.77319365040324, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 259.9715120217055, + 148.17511743904993, + 4.07282716749971 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 258.4715120217055, + 145.5770412276966, + 4.07282716749971 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-11-16_1025125849/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-11-16_1025125849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc7732de69946fe3f64cdfc5d83441ab4d2ab71c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-11-16_1025125849/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -251.97858419250286, + -277.81542980283444, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -253.47858419250286, + -275.2173535914811, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -254.97858419250286, + -272.6192773801278, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -256.47858419250286, + -270.0212011687745, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -257.97858419250286, + -267.4231249574212, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -259.47858419250286, + -264.82504874606786, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -260.97858419250286, + -262.22697253471455, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -262.47858419250286, + -259.62889632336123, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -263.97858419250286, + -257.0308201120079, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -265.47858419250286, + -254.4327439006546, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -266.97858419250286, + -251.83466768930128, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -268.47858419250286, + -249.23659147794797, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -269.97858419250286, + -246.63851526659465, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -271.47858419250286, + -244.04043905524134, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -272.97858419250286, + -241.44236284388802, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -274.47858419250286, + -238.8442866325347, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -275.97858419250286, + -236.2462104211814, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -277.47858419250286, + -233.64813420982807, + 3.504653471312144 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -277.47858419250286, + -233.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -277.47858419250286, + -230.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -277.47858419250286, + -227.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -277.47858419250286, + -224.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -277.47858419250286, + -221.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -277.47858419250286, + -218.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -277.47858419250286, + -215.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -277.47858419250286, + -212.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -277.47858419250286, + -209.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -277.47858419250286, + -206.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -277.47858419250286, + -203.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -277.47858419250286, + -200.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -277.47858419250286, + -197.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -277.47858419250286, + -194.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -277.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -277.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -277.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -277.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -277.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -274.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -271.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -268.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -265.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -265.47858419250286, + -191.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -262.88050798114955, + -190.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -260.28243176979623, + -188.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -257.6843555584429, + -187.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -255.0862793470896, + -185.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -252.48820313573628, + -184.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -249.89012692438297, + -182.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -247.29205071302965, + -181.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -244.69397450167634, + -179.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -242.09589829032302, + -178.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -239.4978220789697, + -176.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -236.8997458676164, + -175.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -234.30166965626307, + -173.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -231.70359344490976, + -172.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -229.10551723355644, + -170.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -226.50744102220312, + -169.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -223.9093648108498, + -167.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -221.3112885994965, + -166.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -218.71321238814318, + -164.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -216.11513617678986, + -163.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -213.51705996543654, + -161.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -210.91898375408323, + -160.14813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -208.3209075427299, + -158.64813420982807, + 3.504653471312144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -205.7228313313766, + -157.14813420982807, + 3.504653471312144 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-12-17_126107205/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-12-17_126107205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41e3ee7be39c41ed7a60b4b389d923c01a079ef9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-12-17_126107205/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 433.7994969023073, + -189.06692383175573, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 432.2994969023073, + -186.4688476204024, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 430.7994969023073, + -183.8707714090491, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 429.2994969023073, + -181.27269519769578, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 427.7994969023073, + -178.67461898634247, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 426.2994969023073, + -176.07654277498915, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 424.7994969023073, + -173.47846656363583, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 423.2994969023073, + -170.88039035228252, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 421.7994969023073, + -168.2823141409292, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 420.2994969023073, + -165.6842379295759, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 418.7994969023073, + -163.08616171822257, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 417.2994969023073, + -160.48808550686925, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 415.7994969023073, + -157.89000929551594, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 414.2994969023073, + -155.29193308416262, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 412.7994969023073, + -152.6938568728093, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 411.2994969023073, + -150.095780661456, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 409.7994969023073, + -147.49770445010267, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 408.2994969023073, + -144.89962823874936, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 406.7994969023073, + -142.30155202739604, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 405.2994969023073, + -139.70347581604273, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 403.7994969023073, + -137.1053996046894, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 402.2994969023073, + -134.5073233933361, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 400.7994969023073, + -131.90924718198278, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 399.2994969023073, + -129.31117097062946, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 397.7994969023073, + -126.71309475927615, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 396.2994969023073, + -124.11501854792283, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 394.7994969023073, + -121.51694233656951, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 393.2994969023073, + -118.9188661252162, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 391.7994969023073, + -116.32078991386288, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 390.2994969023073, + -113.72271370250957, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 388.7994969023073, + -111.12463749115625, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 387.2994969023073, + -108.52656127980293, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 385.7994969023073, + -105.92848506844962, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 384.2994969023073, + -103.3304088570963, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 382.7994969023073, + -100.73233264574299, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 381.2994969023073, + -98.13425643438967, + -0.9622644291715794 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 381.2994969023073, + -98.13425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 378.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 378.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 378.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 375.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 372.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 369.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 366.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 363.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 360.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 357.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 354.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 351.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 348.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 345.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 342.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 339.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 336.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 336.70142069095397, + -96.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 334.10334447960065, + -95.13425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 331.50526826824733, + -93.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 328.907192056894, + -92.13425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 326.3091158455407, + -90.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 323.7110396341874, + -89.13425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 321.11296342283407, + -87.63425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 318.51488721148075, + -86.13425643438967, + -0.9622644291715794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 315.91681100012744, + -84.63425643438967, + -0.9622644291715794 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-13-52_1282648518/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-13-52_1282648518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eebb251253f53e4c4b8390a4926c3d749aa34c01 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-13-52_1282648518/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -315.92354689331944, + 7.9933873224613805, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -314.42354689331944, + 5.3953111111080645, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -312.92354689331944, + 2.7972348997547485, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -311.42354689331944, + 0.19915868840143247, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -309.92354689331944, + -2.3989175229518835, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -308.42354689331944, + -4.9969937343051996, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -306.92354689331944, + -7.595069945658516, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -305.42354689331944, + -10.193146157011832, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -303.92354689331944, + -12.791222368365148, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -302.42354689331944, + -15.389298579718464, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -300.92354689331944, + -17.98737479107178, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -299.42354689331944, + -20.585451002425096, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -297.92354689331944, + -23.18352721377841, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -296.42354689331944, + -25.781603425131728, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -294.92354689331944, + -28.379679636485044, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -293.42354689331944, + -30.97775584783836, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -291.92354689331944, + -33.575832059191676, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -290.42354689331944, + -36.17390827054499, + -2.957465228641935 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -290.42354689331944, + -36.17390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -287.8254706819661, + -37.67390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -285.2273944706128, + -39.17390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -282.6293182592595, + -40.67390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -280.0312420479062, + -42.17390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -277.43316583655286, + -43.67390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -274.83508962519954, + -45.17390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -272.2370134138462, + -46.67390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -269.6389372024929, + -48.17390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -267.0408609911396, + -49.67390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -264.4427847797863, + -51.17390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -261.84470856843296, + -52.67390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -259.24663235707965, + -54.17390827054499, + -2.957465228641935 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -259.24663235707965, + -54.17390827054499, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -257.74663235707965, + -56.77198448189831, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -256.24663235707965, + -59.370060693251624, + -2.957465228641935 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -256.24663235707965, + -59.370060693251624, + -2.957465228641935 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -256.24663235707965, + -59.370060693251624, + -2.957465228641935 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -256.24663235707965, + -59.370060693251624, + -2.957465228641935 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.24663235707965, + -59.370060693251624, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -258.84470856843296, + -60.870060693251624, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -261.4427847797863, + -62.370060693251624, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -264.0408609911396, + -63.870060693251624, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -266.6389372024929, + -65.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -269.2370134138462, + -66.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -271.83508962519954, + -68.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -274.43316583655286, + -69.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -277.0312420479062, + -71.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -279.6293182592595, + -72.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -282.2273944706128, + -74.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -284.8254706819661, + -75.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -287.42354689331944, + -77.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -290.02162310467276, + -78.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -292.6196993160261, + -80.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -295.2177755273794, + -81.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -297.8158517387327, + -83.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -300.413927950086, + -84.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -303.01200416143934, + -86.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -305.61008037279265, + -87.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -308.20815658414597, + -89.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -310.8062327954993, + -90.87006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -313.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -313.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -316.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -319.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -322.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -325.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -328.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -331.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -334.4043090068526, + -92.37006069325162, + -2.957465228641935 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-15-26_1353436873/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-15-26_1353436873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf6b4e169a5c49307c66e60db1aef864ce82a7fb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-15-26_1353436873/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 779.9055520921082, + -343.4373454448282, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 782.5036283034615, + -341.9373454448282, + 0.15622233796389295 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 782.5036283034615, + -341.9373454448282, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 784.0036283034615, + -339.3392692334749, + 0.15622233796389295 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 784.0036283034615, + -339.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 786.6017045148149, + -337.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 789.1997807261682, + -336.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 791.7978569375216, + -334.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 794.395933148875, + -333.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 796.9940093602283, + -331.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 799.5920855715817, + -330.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 802.1901617829351, + -328.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 804.7882379942885, + -327.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 807.3863142056418, + -325.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 809.9843904169952, + -324.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 812.5824666283486, + -322.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 815.180542839702, + -321.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 817.7786190510553, + -319.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 820.3766952624087, + -318.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 822.9747714737621, + -316.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 825.5728476851154, + -315.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 828.1709238964688, + -313.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 830.7690001078222, + -312.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 833.3670763191756, + -310.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 835.9651525305289, + -309.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 838.5632287418823, + -307.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 841.1613049532357, + -306.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 843.7593811645891, + -304.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 846.3574573759424, + -303.3392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 848.9555335872958, + -301.8392692334749, + 0.15622233796389295 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 848.9555335872958, + -301.8392692334749, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 850.4555335872958, + -299.2411930221216, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 851.9555335872958, + -296.6431168107683, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 853.4555335872958, + -294.04504059941496, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 854.9555335872958, + -291.44696438806164, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 856.4555335872958, + -288.84888817670833, + 0.15622233796389295 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 856.4555335872958, + -288.84888817670833, + 0.15622233796389295 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 856.4555335872958, + -288.84888817670833, + 0.15622233796389295 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 856.4555335872958, + -288.84888817670833, + 0.15622233796389295 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 856.4555335872958, + -288.84888817670833, + 0.15622233796389295 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 856.4555335872958, + -288.84888817670833, + 0.15622233796389295 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 856.4555335872958, + -288.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 856.4555335872958, + -291.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 856.4555335872958, + -294.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 856.4555335872958, + -297.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 856.4555335872958, + -300.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 856.4555335872958, + -303.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 856.4555335872958, + -306.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 856.4555335872958, + -309.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 856.4555335872958, + -312.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 856.4555335872958, + -315.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 856.4555335872958, + -318.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 856.4555335872958, + -321.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 856.4555335872958, + -324.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 856.4555335872958, + -327.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 856.4555335872958, + -330.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 856.4555335872958, + -333.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 856.4555335872958, + -336.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 856.4555335872958, + -339.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 856.4555335872958, + -342.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 856.4555335872958, + -345.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 856.4555335872958, + -348.84888817670833, + 0.15622233796389295 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 856.4555335872958, + -348.84888817670833, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 857.9555335872958, + -351.44696438806164, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 859.4555335872958, + -354.04504059941496, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 860.9555335872958, + -356.6431168107683, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 862.4555335872958, + -359.2411930221216, + 0.15622233796389295 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 862.4555335872958, + -359.2411930221216, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 865.0536097986492, + -360.7411930221216, + 0.15622233796389295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 867.6516860100025, + -362.2411930221216, + 0.15622233796389295 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-16-2_1983228458/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-16-2_1983228458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4194bb27608a1fe1634e067a6d7716aedcf9df3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-16-2_1983228458/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 989.1850974197021, + -338.5219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 986.5870212083487, + -337.0219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 983.9889449969953, + -335.5219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 981.3908687856419, + -334.0219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 978.7927925742886, + -332.5219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 976.1947163629352, + -331.0219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 973.5966401515818, + -329.5219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 970.9985639402285, + -328.0219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 968.4004877288751, + -326.5219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 965.8024115175217, + -325.0219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 963.2043353061683, + -323.5219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 960.606259094815, + -322.0219512397984, + 2.907267315841108 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 960.606259094815, + -322.0219512397984, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 959.106259094815, + -319.4238750284451, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 957.606259094815, + -316.82579881709177, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 956.106259094815, + -314.22772260573845, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 954.606259094815, + -311.62964639438513, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 953.106259094815, + -309.0315701830318, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 951.606259094815, + -306.4334939716785, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 950.106259094815, + -303.8354177603252, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 948.606259094815, + -301.23734154897187, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 947.106259094815, + -298.63926533761855, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 945.606259094815, + -296.04118912626524, + 2.907267315841108 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 945.606259094815, + -296.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 943.0081828834616, + -294.54118912626524, + 2.907267315841108 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 943.0081828834616, + -294.54118912626524, + 2.907267315841108 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 943.0081828834616, + -294.54118912626524, + 2.907267315841108 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948963 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 943.0081828834616, + -294.54118912626524, + 2.907267315841108 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 943.0081828834616, + -294.54118912626524, + 2.907267315841108 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 943.0081828834616, + -294.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 945.606259094815, + -293.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 948.2043353061683, + -291.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 950.8024115175217, + -290.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 953.4004877288751, + -288.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 955.9985639402285, + -287.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 958.5966401515818, + -285.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 961.1947163629352, + -284.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 963.7927925742886, + -282.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 966.3908687856419, + -281.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 968.9889449969953, + -279.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 971.5870212083487, + -278.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 974.1850974197021, + -276.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 976.7831736310554, + -275.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 979.3812498424088, + -273.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 981.9793260537622, + -272.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 984.5774022651156, + -270.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 987.1754784764689, + -269.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 989.7735546878223, + -267.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 992.3716308991757, + -266.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 994.969707110529, + -264.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 997.5677833218824, + -263.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1000.1658595332358, + -261.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1002.7639357445892, + -260.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1005.3620119559425, + -258.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1007.9600881672959, + -257.04118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1010.5581643786493, + -255.54118912626524, + 2.907267315841108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1013.1562405900027, + -254.04118912626524, + 2.907267315841108 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-21-27_1152645729/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-21-27_1152645729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c8e2c39a6ce008b22cc787bb8eeab6e3893de43 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-21-27_1152645729/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 345.289616989568, + -174.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 345.289616989568, + -177.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 345.289616989568, + -180.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 345.289616989568, + -183.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 345.289616989568, + -186.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 345.289616989568, + -189.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 345.289616989568, + -192.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 345.289616989568, + -195.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 345.289616989568, + -198.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 345.289616989568, + -201.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 345.289616989568, + -204.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 345.289616989568, + -207.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 345.289616989568, + -210.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.289616989568, + -213.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 345.289616989568, + -216.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 345.289616989568, + -219.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 345.289616989568, + -222.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 345.289616989568, + -225.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 345.289616989568, + -228.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 345.289616989568, + -231.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.289616989568, + -234.7198919811774, + 2.401493834250097 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 345.289616989568, + -234.7198919811774, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 346.789616989568, + -237.3179681925307, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 348.289616989568, + -239.91604440388403, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 349.789616989568, + -242.51412061523735, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 351.289616989568, + -245.11219682659066, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 352.789616989568, + -247.71027303794398, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 354.289616989568, + -250.3083492492973, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 355.789616989568, + -252.9064254606506, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 357.289616989568, + -255.50450167200393, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 358.789616989568, + -258.10257788335724, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 360.289616989568, + -260.70065409471056, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 361.789616989568, + -263.2987303060639, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 363.289616989568, + -265.8968065174172, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 364.789616989568, + -268.4948827287705, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 366.289616989568, + -271.0929589401238, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 367.789616989568, + -273.69103515147714, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 369.289616989568, + -276.28911136283045, + 2.401493834250097 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 369.289616989568, + -276.28911136283045, + 2.401493834250097 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 369.289616989568, + -276.28911136283045, + 2.401493834250097 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 369.289616989568, + -276.28911136283045, + 2.401493834250097 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 369.289616989568, + -276.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 366.6915407782147, + -277.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 364.09346456686137, + -279.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 361.49538835550806, + -280.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 358.89731214415474, + -282.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 356.2992359328014, + -283.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 353.7011597214481, + -285.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 351.1030835100948, + -286.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 348.5050072987415, + -288.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 345.90693108738816, + -289.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 343.30885487603484, + -291.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 340.7107786646815, + -292.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 338.1127024533282, + -294.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 335.5146262419749, + -295.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 332.9165500306216, + -297.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 330.31847381926826, + -298.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 327.72039760791495, + -300.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 325.12232139656163, + -301.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 322.5242451852083, + -303.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 319.926168973855, + -304.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 317.3280927625017, + -306.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 314.73001655114837, + -307.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 312.13194033979505, + -309.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 309.53386412844173, + -310.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 306.9357879170884, + -312.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 304.3377117057351, + -313.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 301.7396354943818, + -315.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 299.14155928302847, + -316.78911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 296.54348307167515, + -318.28911136283045, + 2.401493834250097 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 296.54348307167515, + -318.28911136283045, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 295.04348307167515, + -320.88718757418377, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 293.54348307167515, + -323.4852637855371, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 292.04348307167515, + -326.0833399968904, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 290.54348307167515, + -328.6814162082437, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 289.04348307167515, + -331.27949241959703, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 287.54348307167515, + -333.87756863095035, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 286.04348307167515, + -336.47564484230367, + 2.401493834250097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 284.54348307167515, + -339.073721053657, + 2.401493834250097 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-22-3_470591100/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-22-3_470591100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd5d78317063a97a99a2986b83d47c3e482f6578 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-22-3_470591100/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -312.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -309.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -306.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -303.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -300.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -297.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -294.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -288.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -285.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -282.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -279.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -276.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -273.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -270.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -267.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -264.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -261.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -258.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -255.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -252.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -249.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -246.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -243.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -240.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -237.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -234.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -231.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -228.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -225.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -222.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -219.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -216.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -213.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -210.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -210.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -210.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -208.99732519641657, + -155.1067809443958, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -207.49732519641657, + -157.70485715574912, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -205.99732519641657, + -160.30293336710244, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -207.49732519641657, + -157.70485715574912, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -208.99732519641657, + -155.1067809443958, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -210.49732519641657, + -152.5087047330425, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -211.99732519641657, + -149.91062852168918, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -213.49732519641657, + -147.31255231033586, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -214.99732519641657, + -144.71447609898254, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -216.49732519641657, + -142.11639988762923, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -217.99732519641657, + -139.5183236762759, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -219.49732519641657, + -136.9202474649226, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -220.99732519641657, + -134.32217125356928, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -222.49732519641657, + -131.72409504221596, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -223.99732519641657, + -129.12601883086265, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -225.49732519641657, + -126.52794261950933, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -226.99732519641657, + -123.92986640815602, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -228.49732519641657, + -121.3317901968027, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -229.99732519641657, + -118.73371398544938, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -231.49732519641657, + -116.13563777409607, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -232.99732519641657, + -113.53756156274275, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -234.49732519641657, + -110.93948535138944, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -235.99732519641657, + -108.34140914003612, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -237.49732519641657, + -105.7433329286828, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -238.99732519641657, + -103.14525671732949, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -240.49732519641657, + -100.54718050597617, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -241.99732519641657, + -97.94910429462286, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -243.49732519641657, + -95.35102808326954, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -244.99732519641657, + -92.75295187191622, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -246.49732519641657, + -90.15487566056291, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -247.99732519641657, + -87.55679944920959, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -249.49732519641657, + -84.95872323785628, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -250.99732519641657, + -82.36064702650296, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -252.49732519641657, + -79.76257081514964, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -253.99732519641657, + -77.16449460379633, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -255.49732519641657, + -74.56641839244301, + 2.7524094028277046 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -255.49732519641657, + -74.56641839244301, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -255.49732519641657, + -71.56641839244301, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -255.49732519641657, + -68.56641839244301, + 2.7524094028277046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -255.49732519641657, + -65.56641839244301, + 2.7524094028277046 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-22-49_1025533459/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-22-49_1025533459/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2ab2d55d5c7344451825a91c3360d5c404bf9b9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-22-49_1025533459/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1519.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1516.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1513.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1510.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1507.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1504.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1501.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1498.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1495.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1492.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1489.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1486.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1483.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1480.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1477.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1474.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1471.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1468.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1465.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1462.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1459.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1456.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1453.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1450.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1447.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1447.2894382191091, + 85.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1444.6913620077557, + 84.30791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1442.0932857964024, + 82.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1439.495209585049, + 81.30791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1436.8971333736956, + 79.80791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1434.2990571623423, + 78.30791990858319, + -1.622040671803986 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1434.2990571623423, + 78.30791990858319, + -1.622040671803986 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1434.2990571623423, + 78.30791990858319, + -1.622040671803986 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1434.2990571623423, + 78.30791990858319, + -1.622040671803986 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1434.2990571623423, + 78.30791990858319, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1435.7990571623423, + 75.70984369722987, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1437.2990571623423, + 73.11176748587656, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1438.7990571623423, + 70.51369127452324, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1440.2990571623423, + 67.91561506316992, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1441.7990571623423, + 65.31753885181661, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1443.2990571623423, + 62.71946264046329, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1444.7990571623423, + 60.121386429109975, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1446.2990571623423, + 57.52331021775666, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1447.7990571623423, + 54.92523400640334, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1449.2990571623423, + 52.32715779505003, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1450.7990571623423, + 49.72908158369671, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1452.2990571623423, + 47.131005372343395, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1453.7990571623423, + 44.53292916099008, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1455.2990571623423, + 41.93485294963676, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1456.7990571623423, + 39.33677673828345, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1458.2990571623423, + 36.73870052693013, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1459.7990571623423, + 34.140624315576815, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1461.2990571623423, + 31.5425481042235, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1462.7990571623423, + 28.944471892870183, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1464.2990571623423, + 26.346395681516867, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1465.7990571623423, + 23.74831947016355, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1467.2990571623423, + 21.150243258810235, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1468.7990571623423, + 18.55216704745692, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1470.2990571623423, + 15.954090836103603, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1471.7990571623423, + 13.356014624750287, + -1.622040671803986 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1471.7990571623423, + 13.356014624750287, + -1.622040671803986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1474.3971333736956, + 11.856014624750287, + -1.622040671803986 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-23-19_2039723618/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-23-19_2039723618/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f0495b9124c95e36afc1bfb7b6afc0b1db4b004 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-23-19_2039723618/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 279.0419777744875, + -349.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.64005398584084, + -348.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 284.23813019719415, + -346.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 286.83620640854747, + -345.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 289.4342826199008, + -343.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 292.0323588312541, + -342.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 294.6304350426074, + -340.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 297.22851125396073, + -339.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 299.82658746531405, + -337.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 302.42466367666736, + -336.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 305.0227398880207, + -334.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 307.620816099374, + -333.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 310.2188923107273, + -331.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 312.81696852208063, + -330.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 315.41504473343394, + -328.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 318.01312094478726, + -327.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.6111971561406, + -325.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 323.2092733674939, + -324.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 325.8073495788472, + -322.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 328.4054257902005, + -321.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 331.00350200155384, + -319.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 333.60157821290716, + -318.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 336.1996544242605, + -316.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 338.7977306356138, + -315.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 341.3958068469671, + -313.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 343.9938830583204, + -312.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 346.59195926967374, + -310.9726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 349.19003548102705, + -309.4726993811734, + -3.915111426747811 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 349.19003548102705, + -309.4726993811734, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 350.69003548102705, + -306.8746231698201, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 352.19003548102705, + -304.2765469584668, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 353.69003548102705, + -301.67847074711347, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 355.19003548102705, + -299.08039453576015, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 356.69003548102705, + -296.48231832440683, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 358.19003548102705, + -293.8842421130535, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 359.69003548102705, + -291.2861659017002, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 361.19003548102705, + -288.6880896903469, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 362.69003548102705, + -286.09001347899357, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 364.19003548102705, + -283.49193726764025, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 365.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 365.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 365.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 365.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 368.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 371.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 374.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 377.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 380.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 383.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 386.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 389.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 392.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 395.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 398.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 401.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 404.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 407.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 410.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 413.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 416.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 419.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 419.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 419.69003548102705, + -280.89386105628694, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 421.19003548102705, + -283.49193726764025, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 422.69003548102705, + -286.09001347899357, + -3.915111426747811 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 422.69003548102705, + -286.09001347899357, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 425.28811169238037, + -287.59001347899357, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 427.8861879037337, + -289.09001347899357, + -3.915111426747811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 430.484264115087, + -290.59001347899357, + -3.915111426747811 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-25-17_394633074/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-25-17_394633074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f25d94aa576f683a840a3c7d35694eaf5432744 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-25-17_394633074/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1388.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1391.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1394.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1397.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1400.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1403.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1406.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1409.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1412.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1415.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1418.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1421.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1424.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1427.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1430.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1433.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1436.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1439.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1442.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1445.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1448.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1451.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1454.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1454.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1454.8018013259837, + 40.37018390003129, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1456.3018013259837, + 37.77210768867798, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1457.8018013259837, + 35.17403147732466, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1459.3018013259837, + 32.575955265971345, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1460.8018013259837, + 29.97787905461803, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1462.3018013259837, + 27.379802843264713, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1463.8018013259837, + 24.781726631911397, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1465.3018013259837, + 22.18365042055808, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1466.8018013259837, + 19.585574209204765, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1468.3018013259837, + 16.98749799785145, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1469.8018013259837, + 14.389421786498133, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1471.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1471.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1471.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1474.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "turn right", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1474.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "turn right", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1474.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1474.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1474.3018013259837, + 11.791345575144817, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1472.8018013259837, + 9.1932693637915, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1471.3018013259837, + 6.595193152438185, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1469.8018013259837, + 3.997116941084869, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1468.3018013259837, + 1.3990407297315528, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1466.8018013259837, + -1.1990354816217632, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1465.3018013259837, + -3.7971116929750792, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1463.8018013259837, + -6.395187904328395, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1462.3018013259837, + -8.993264115681711, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1460.8018013259837, + -11.591340327035027, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1459.3018013259837, + -14.189416538388343, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1457.8018013259837, + -16.78749274974166, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1456.3018013259837, + -19.385568961094975, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1454.8018013259837, + -21.98364517244829, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1453.3018013259837, + -24.581721383801607, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1451.8018013259837, + -27.179797595154923, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1450.3018013259837, + -29.77787380650824, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1448.8018013259837, + -32.375950017861555, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1447.3018013259837, + -34.97402622921487, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1445.8018013259837, + -37.57210244056819, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1444.3018013259837, + -40.1701786519215, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1442.8018013259837, + -42.76825486327482, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1441.3018013259837, + -45.366331074628135, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1439.8018013259837, + -47.96440728598145, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1438.3018013259837, + -50.56248349733477, + 4.762801110969914 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1438.3018013259837, + -50.56248349733477, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1438.3018013259837, + -53.56248349733477, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1438.3018013259837, + -56.56248349733477, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1438.3018013259837, + -59.56248349733477, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1438.3018013259837, + -62.56248349733477, + 4.762801110969914 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1438.3018013259837, + -65.56248349733477, + 4.762801110969914 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-28-49_1635550270/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-28-49_1635550270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc6adb55eb77425ca6ca6cc6022dd96142923109 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-28-49_1635550270/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 384.0120152131709, + 296.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 381.4139390018176, + 295.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 378.8158627904643, + 293.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 376.21778657911096, + 292.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 373.61971036775765, + 290.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 371.02163415640433, + 289.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 368.423557945051, + 287.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 365.8254817336977, + 286.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.2274055223444, + 284.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 360.62932931099107, + 283.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 358.03125309963775, + 281.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 355.43317688828444, + 280.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 352.8351006769311, + 278.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.2370244655778, + 277.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 347.6389482542245, + 275.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 345.0408720428712, + 274.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 342.44279583151786, + 272.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 339.84471962016454, + 271.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 337.2466434088112, + 269.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 334.6485671974579, + 268.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 332.0504909861046, + 266.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 329.4524147747513, + 265.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 326.85433856339796, + 263.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 324.25626235204464, + 262.2463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 321.6581861406913, + 260.7463211255716, + -4.278997394569733 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 321.6581861406913, + 260.7463211255716, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 320.1581861406913, + 258.1482449142183, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 318.6581861406913, + 255.550168702865, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 317.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 317.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 317.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 317.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 317.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 317.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 320.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 323.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 326.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 329.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 332.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 335.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 338.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 341.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 344.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 347.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 350.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 353.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 353.1581861406913, + 252.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 355.75626235204464, + 251.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 358.35433856339796, + 249.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 360.9524147747513, + 248.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 363.5504909861046, + 246.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 366.1485671974579, + 245.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 368.7466434088112, + 243.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 371.34471962016454, + 242.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 373.94279583151786, + 240.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 376.5408720428712, + 239.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 379.1389482542245, + 237.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 381.7370244655778, + 236.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 384.3351006769311, + 234.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 386.93317688828444, + 233.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 389.53125309963775, + 231.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 392.12932931099107, + 230.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 394.7274055223444, + 228.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 397.3254817336977, + 227.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 399.923557945051, + 225.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 402.52163415640433, + 224.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 405.11971036775765, + 222.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 407.71778657911096, + 221.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 410.3158627904643, + 219.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 412.9139390018176, + 218.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 415.5120152131709, + 216.95209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 418.1100914245242, + 215.45209249151168, + -4.278997394569733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 420.70816763587754, + 213.95209249151168, + -4.278997394569733 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-30-29_712633417/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-30-29_712633417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f19836ebec1d529b5f271265e034a83b020bfe9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-30-29_712633417/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1267.7655585976179, + -150.5838063364997, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1269.2655585976179, + -153.181882547853, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1270.7655585976179, + -155.77995875920632, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1272.2655585976179, + -158.37803497055964, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1273.7655585976179, + -160.97611118191296, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1275.2655585976179, + -163.57418739326627, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1276.7655585976179, + -166.1722636046196, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1278.2655585976179, + -168.7703398159729, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1279.7655585976179, + -171.36841602732622, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1281.2655585976179, + -173.96649223867954, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1282.7655585976179, + -176.56456845003285, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1284.2655585976179, + -179.16264466138617, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1285.7655585976179, + -181.76072087273948, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1287.2655585976179, + -184.3587970840928, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1288.7655585976179, + -186.95687329544612, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1290.2655585976179, + -189.55494950679943, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1291.7655585976179, + -192.15302571815275, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1293.2655585976179, + -194.75110192950606, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1294.7655585976179, + -197.34917814085938, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1296.2655585976179, + -199.9472543522127, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1297.7655585976179, + -202.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1299.2655585976179, + -205.14340677491933, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1300.7655585976179, + -207.74148298627264, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1302.2655585976179, + -210.33955919762596, + 3.7109645747846045 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1302.2655585976179, + -210.33955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1304.8636348089713, + -211.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1307.4617110203246, + -213.33955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1310.059787231678, + -214.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1312.6578634430314, + -216.33955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1315.2559396543847, + -217.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1317.8540158657381, + -219.33955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1320.4520920770915, + -220.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1323.0501682884449, + -222.33955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1325.6482444997982, + -223.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1328.2463207111516, + -225.33955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1330.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1330.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1333.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1336.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1339.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1342.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1345.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1348.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1351.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1354.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1357.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1360.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1363.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1366.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1369.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1372.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1372.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1372.844396922505, + -226.83955919762596, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1374.344396922505, + -224.24148298627264, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1375.844396922505, + -221.64340677491933, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1377.344396922505, + -219.045330563566, + 3.7109645747846045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1377.344396922505, + -219.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1379.9424731338584, + -217.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1382.5405493452117, + -216.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1385.138625556565, + -214.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1387.7367017679185, + -213.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1390.3347779792718, + -211.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1392.9328541906252, + -210.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1395.5309304019786, + -208.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1398.129006613332, + -207.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1400.7270828246853, + -205.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1403.3251590360387, + -204.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1405.923235247392, + -202.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1408.5213114587455, + -201.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1411.1193876700988, + -199.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1413.7174638814522, + -198.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1416.3155400928056, + -196.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1418.913616304159, + -195.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1421.5116925155123, + -193.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1424.1097687268657, + -192.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1426.707844938219, + -190.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1429.3059211495724, + -189.045330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1431.9039973609258, + -187.545330563566, + 3.7109645747846045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1434.5020735722792, + -186.045330563566, + 3.7109645747846045 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-31-42_1204275569/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-31-42_1204275569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bf428b968ad70c75015e6305d341cf94a211bfe --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-31-42_1204275569/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1123.7276391295143, + -275.7867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1121.129562918161, + -274.2867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1118.5314867068075, + -272.7867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1115.9334104954542, + -271.2867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1113.3353342841008, + -269.7867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1110.7372580727474, + -268.2867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1108.139181861394, + -266.7867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1105.5411056500407, + -265.2867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1102.9430294386873, + -263.7867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1100.344953227334, + -262.2867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1097.7468770159805, + -260.7867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1095.1488008046272, + -259.2867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1092.5507245932738, + -257.7867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1089.9526483819204, + -256.2867295009011, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1087.354572170567, + -254.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1084.7564959592137, + -253.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1082.1584197478603, + -251.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1079.560343536507, + -250.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1076.9622673251536, + -248.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1074.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1074.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1071.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1068.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1065.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1062.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1059.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1056.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1053.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1050.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1047.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1050.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1053.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1056.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1059.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1059.3641911138002, + -247.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1061.9622673251536, + -245.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1064.560343536507, + -244.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1067.1584197478603, + -242.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1069.7564959592137, + -241.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1072.354572170567, + -239.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1074.9526483819204, + -238.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1077.5507245932738, + -236.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1080.1488008046272, + -235.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1082.7468770159805, + -233.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1085.344953227334, + -232.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1087.9430294386873, + -230.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1090.5411056500407, + -229.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1093.139181861394, + -227.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1095.7372580727474, + -226.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1098.3353342841008, + -224.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1100.9334104954542, + -223.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1103.5314867068075, + -221.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1106.129562918161, + -220.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1108.7276391295143, + -218.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1111.3257153408676, + -217.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1113.923791552221, + -215.78672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1116.5218677635744, + -214.28672950090112, + -0.9435005317081195 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1116.5218677635744, + -214.28672950090112, + -0.9435005317081195 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1119.5218677635744, + -214.28672950090112, + -0.9435005317081195 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-31-5_864101839/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-31-5_864101839/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7092cd70a990ce0c9d0dcf0b20871ea1812e12b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-31-5_864101839/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 143.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 146.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 149.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 152.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 155.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 158.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 161.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 164.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 167.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 170.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 173.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 176.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 179.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 182.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 185.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 188.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 191.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 194.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 197.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 200.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 203.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 206.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 209.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 212.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 215.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 215.43463086574624, + -215.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 218.03270707709956, + -213.64949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 220.63078328845288, + -212.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 223.2288594998062, + -210.64949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 225.8269357111595, + -209.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 228.42501192251282, + -207.64949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 231.02308813386614, + -206.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 233.62116434521946, + -204.64949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 236.21924055657277, + -203.14949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 238.8173167679261, + -201.64949436309212, + -4.635352979236481 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 238.8173167679261, + -201.64949436309212, + -4.635352979236481 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 238.8173167679261, + -201.64949436309212, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 240.3173167679261, + -199.0514181517388, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 241.8173167679261, + -196.45334194038549, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 243.3173167679261, + -193.85526572903217, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 244.8173167679261, + -191.25718951767885, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 246.3173167679261, + -188.65911330632554, + -4.635352979236481 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 246.3173167679261, + -188.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 248.9153929792794, + -187.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 251.51346919063272, + -185.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 254.11154540198604, + -184.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 256.7096216133393, + -182.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983036 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 259.30769782469264, + -181.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 261.90577403604595, + -179.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 264.50385024739927, + -178.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 267.1019264587526, + -176.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 269.7000026701059, + -175.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 272.2980788814592, + -173.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 274.89615509281253, + -172.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 277.49423130416585, + -170.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 280.09230751551917, + -169.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 282.6903837268725, + -167.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 285.2884599382258, + -166.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 287.8865361495791, + -164.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 290.48461236093243, + -163.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 293.08268857228575, + -161.65911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 295.68076478363906, + -160.15911330632554, + -4.635352979236481 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 295.68076478363906, + -160.15911330632554, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 297.18076478363906, + -157.56103709497222, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 298.68076478363906, + -154.9629608836189, + -4.635352979236481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 300.18076478363906, + -152.3648846722656, + -4.635352979236481 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-34-33_773319847/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-34-33_773319847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4385c17aebf4082b0fc55453cfceeb065a2037e0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-34-33_773319847/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 127.79046038946527, + -24.992926778076907, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 129.29046038946527, + -22.39485056672359, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 130.79046038946527, + -19.796774355370275, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 132.29046038946527, + -17.19869814401696, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 133.79046038946527, + -14.600621932663643, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 135.29046038946527, + -12.002545721310327, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 136.79046038946527, + -9.40446950995701, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 138.29046038946527, + -6.806393298603695, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 139.79046038946527, + -4.208317087250379, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 141.29046038946527, + -1.6102408758970626, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 142.79046038946527, + 0.9878353354562535, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 144.29046038946527, + 3.5859115468095695, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 145.79046038946527, + 6.1839877581628855, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 147.29046038946527, + 8.782063969516201, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 148.79046038946527, + 11.380140180869518, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 150.29046038946527, + 13.978216392222834, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 151.79046038946527, + 16.57629260357615, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 153.29046038946527, + 19.174368814929466, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 154.79046038946527, + 21.77244502628278, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 156.29046038946527, + 24.370521237636098, + -1.3419676828206861 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 156.29046038946527, + 24.370521237636098, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 156.29046038946527, + 27.370521237636098, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 156.29046038946527, + 30.370521237636098, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 156.29046038946527, + 33.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 156.29046038946527, + 36.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 156.29046038946527, + 39.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 156.29046038946527, + 42.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 156.29046038946527, + 45.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 156.29046038946527, + 48.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 156.29046038946527, + 51.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 156.29046038946527, + 54.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 156.29046038946527, + 57.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 156.29046038946527, + 60.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 156.29046038946527, + 63.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 156.29046038946527, + 66.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 156.29046038946527, + 69.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 156.29046038946527, + 72.3705212376361, + -1.3419676828206861 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 156.29046038946527, + 72.3705212376361, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 154.79046038946527, + 74.96859744898941, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 153.29046038946527, + 77.56667366034273, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 151.79046038946527, + 80.16474987169605, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 150.29046038946527, + 82.76282608304936, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 148.79046038946527, + 85.36090229440268, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 147.29046038946527, + 87.958978505756, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 145.79046038946527, + 90.55705471710931, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 144.29046038946527, + 93.15513092846263, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 142.79046038946527, + 95.75320713981594, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 141.29046038946527, + 98.35128335116926, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 139.79046038946527, + 100.94935956252257, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 138.29046038946527, + 103.54743577387589, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 136.79046038946527, + 106.1455119852292, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 135.29046038946527, + 108.74358819658252, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 133.79046038946527, + 111.34166440793584, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 132.29046038946527, + 113.93974061928915, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 130.79046038946527, + 116.53781683064247, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 129.29046038946527, + 119.13589304199579, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 127.79046038946527, + 121.7339692533491, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 126.29046038946527, + 124.33204546470242, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 124.79046038946527, + 126.93012167605573, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 123.29046038946527, + 129.52819788740905, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 121.79046038946527, + 132.12627409876237, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 120.29046038946527, + 134.72435031011568, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 118.79046038946527, + 137.322426521469, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 117.29046038946527, + 139.9205027328223, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 115.79046038946527, + 142.51857894417563, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 114.29046038946527, + 145.11665515552895, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 112.79046038946527, + 147.71473136688226, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 111.29046038946527, + 150.31280757823558, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 109.79046038946527, + 152.9108837895889, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 108.29046038946527, + 155.5089600009422, + -1.3419676828206861 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 108.29046038946527, + 155.5089600009422, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 108.29046038946527, + 158.5089600009422, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 108.29046038946527, + 161.5089600009422, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 108.29046038946527, + 164.5089600009422, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 108.29046038946527, + 167.5089600009422, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 108.29046038946527, + 170.5089600009422, + -1.3419676828206861 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 108.29046038946527, + 173.5089600009422, + -1.3419676828206861 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-35-49_1968217462/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-35-49_1968217462/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1266943111ab99963efd836b7072ed4b0d400c1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-35-49_1968217462/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 517.1366636287445, + -309.9206702713475, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 515.6366636287445, + -307.3225940599942, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 514.1366636287445, + -304.72451784864086, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 512.6366636287445, + -302.12644163728754, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 511.1366636287445, + -299.5283654259342, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 509.6366636287445, + -296.9302892145809, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 508.1366636287445, + -294.3322130032276, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 506.6366636287445, + -291.7341367918743, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 505.1366636287445, + -289.13606058052096, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 503.6366636287445, + -286.53798436916765, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 502.1366636287445, + -283.93990815781433, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 500.6366636287445, + -281.341831946461, + -1.5501681515791166 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 500.6366636287445, + -281.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 500.6366636287445, + -278.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 500.6366636287445, + -275.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 500.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 500.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 500.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 500.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 500.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 494.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 491.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 488.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 485.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 482.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 479.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 476.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 473.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 470.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 467.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 464.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 464.6366636287445, + -272.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 462.03858741739117, + -270.841831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 459.44051120603785, + -269.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 456.84243499468454, + -267.841831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 454.2443587833312, + -266.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 451.6462825719779, + -264.841831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 449.0482063606246, + -263.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 446.4501301492713, + -261.841831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 443.85205393791796, + -260.341831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 441.25397772656464, + -258.841831946461, + -1.5501681515791166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 438.6559015152113, + -257.341831946461, + -1.5501681515791166 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-38-24_802205057/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-38-24_802205057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..046fca48dc7722d91ac1d0710612062f2cee87d3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-38-24_802205057/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 960.3741941416408, + -494.40635815535813, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 958.8741941416408, + -491.8082819440048, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 957.3741941416408, + -489.2102057326515, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 955.8741941416408, + -486.6121295212982, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 954.3741941416408, + -484.01405330994487, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 952.8741941416408, + -481.41597709859155, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 951.3741941416408, + -478.81790088723824, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 949.8741941416408, + -476.2198246758849, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 948.3741941416408, + -473.6217484645316, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 946.8741941416408, + -471.0236722531783, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 945.3741941416408, + -468.425596041825, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 943.8741941416408, + -465.82751983047166, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 942.3741941416408, + -463.22944361911834, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 940.8741941416408, + -460.631367407765, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 939.3741941416408, + -458.0332911964117, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 937.8741941416408, + -455.4352149850584, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 936.3741941416408, + -452.8371387737051, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 934.8741941416408, + -450.23906256235176, + 1.1990884826543766 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 934.8741941416408, + -450.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 934.8741941416408, + -447.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 934.8741941416408, + -444.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 934.8741941416408, + -441.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 934.8741941416408, + -438.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 934.8741941416408, + -435.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 934.8741941416408, + -432.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 934.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 934.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 934.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 934.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 934.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 931.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 928.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 925.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 922.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 919.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 916.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 913.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 910.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 907.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 904.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 901.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 898.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 895.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 892.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 889.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 886.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 883.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 880.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 877.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 874.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 871.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 868.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 865.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 865.8741941416408, + -429.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 863.2761179302875, + -427.73906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 860.6780417189341, + -426.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 858.0799655075807, + -424.73906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 855.4818892962273, + -423.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 852.883813084874, + -421.73906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 850.2857368735206, + -420.23906256235176, + 1.1990884826543766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 847.6876606621672, + -418.73906256235176, + 1.1990884826543766 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-39-54_1272796157/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-39-54_1272796157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90bca62d2a28efbb3aa9638e1445b2d995a860f7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-39-54_1272796157/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1353.494673481633, + -285.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1350.8965972702797, + -283.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1348.2985210589263, + -282.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1345.700444847573, + -280.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1343.1023686362196, + -279.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1340.5042924248662, + -277.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1337.9062162135128, + -276.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1335.3081400021595, + -274.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1332.710063790806, + -273.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1330.1119875794527, + -271.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1327.5139113680993, + -270.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1324.915835156746, + -268.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1322.3177589453926, + -267.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1319.7196827340392, + -265.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1317.1216065226859, + -264.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1314.5235303113325, + -262.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1311.925454099979, + -261.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1309.3273778886257, + -259.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1306.7293016772724, + -258.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1304.131225465919, + -256.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1301.5331492545656, + -255.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1298.9350730432122, + -253.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1296.3369968318589, + -252.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1293.7389206205055, + -250.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1291.1408444091521, + -249.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1288.5427681977988, + -247.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1285.9446919864454, + -246.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1283.346615775092, + -244.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1280.7485395637386, + -243.33707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1278.1504633523853, + -241.83707851807674, + -1.757947475283046 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1278.1504633523853, + -241.83707851807674, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1276.6504633523853, + -239.23900230672342, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1275.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1275.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1275.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1275.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1275.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1275.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1278.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1281.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1284.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1287.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1290.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1293.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1296.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1299.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1302.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1305.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1308.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1311.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1311.1504633523853, + -236.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1313.7485395637386, + -235.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1316.346615775092, + -233.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1318.9446919864454, + -232.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1321.5427681977988, + -230.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1324.1408444091521, + -229.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1326.7389206205055, + -227.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1329.3369968318589, + -226.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1331.9350730432122, + -224.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1334.5331492545656, + -223.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1337.131225465919, + -221.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1339.7293016772724, + -220.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1342.3273778886257, + -218.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1344.925454099979, + -217.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1347.5235303113325, + -215.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1350.1216065226859, + -214.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1352.7196827340392, + -212.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1355.3177589453926, + -211.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1357.915835156746, + -209.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1360.5139113680993, + -208.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1363.1119875794527, + -206.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1365.710063790806, + -205.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1368.3081400021595, + -203.6409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1370.9062162135128, + -202.1409260953701, + -1.757947475283046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1373.5042924248662, + -200.6409260953701, + -1.757947475283046 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-4-39_970925433/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-4-39_970925433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a4e19f043804ec0917976a42ac0f1fb5ce3615b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-4-39_970925433/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1371.8991129205747, + -249.3551501220748, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1374.8991129205747, + -249.3551501220748, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1377.8991129205747, + -249.3551501220748, + -1.7858395339550666 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1377.8991129205747, + -249.3551501220748, + -1.7858395339550666 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1377.8991129205747, + -249.3551501220748, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1379.3991129205747, + -246.7570739107215, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1380.8991129205747, + -244.15899769936817, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1382.3991129205747, + -241.56092148801486, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1383.8991129205747, + -238.96284527666154, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1385.3991129205747, + -236.36476906530822, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1386.8991129205747, + -233.7666928539549, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1388.3991129205747, + -231.1686166426016, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1389.8991129205747, + -228.57054043124828, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1391.3991129205747, + -225.97246421989496, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1392.8991129205747, + -223.37438800854164, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1394.3991129205747, + -220.77631179718833, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1395.8991129205747, + -218.178235585835, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1397.3991129205747, + -215.5801593744817, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1398.8991129205747, + -212.98208316312838, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1400.3991129205747, + -210.38400695177506, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1401.8991129205747, + -207.78593074042175, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1403.3991129205747, + -205.18785452906843, + -1.7858395339550666 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1403.3991129205747, + -205.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1405.997189131928, + -203.68785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1408.5952653432814, + -202.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1411.1933415546348, + -200.68785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1413.7914177659882, + -199.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1416.3894939773415, + -197.68785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1418.987570188695, + -196.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1421.5856464000483, + -194.68785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1424.1837226114017, + -193.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1426.781798822755, + -191.68785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1429.3798750341084, + -190.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1431.9779512454618, + -188.68785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1434.5760274568152, + -187.18785452906843, + -1.7858395339550666 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1434.5760274568152, + -187.18785452906843, + -1.7858395339550666 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1434.5760274568152, + -187.18785452906843, + -1.7858395339550666 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1434.5760274568152, + -187.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1434.5760274568152, + -184.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1434.5760274568152, + -181.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1434.5760274568152, + -178.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1434.5760274568152, + -175.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1434.5760274568152, + -172.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1434.5760274568152, + -169.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1434.5760274568152, + -166.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1434.5760274568152, + -163.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1434.5760274568152, + -160.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1434.5760274568152, + -157.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1434.5760274568152, + -154.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1434.5760274568152, + -151.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1434.5760274568152, + -148.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1434.5760274568152, + -145.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1434.5760274568152, + -142.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1434.5760274568152, + -139.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1434.5760274568152, + -136.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1434.5760274568152, + -133.18785452906843, + -1.7858395339550666 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1434.5760274568152, + -133.18785452906843, + -1.7858395339550666 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1433.0760274568152, + -130.58977831771512, + -1.7858395339550666 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-44-36_738393740/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-44-36_738393740/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed079d152a1a455ef5ef004270bd9e4d7c301ea9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-44-36_738393740/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 242.43083553071762, + 201.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 245.02891174207093, + 202.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 247.62698795342425, + 204.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 250.22506416477756, + 205.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 252.82314037613088, + 207.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 255.4212165874842, + 208.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 258.0192927988375, + 210.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 260.6173690101908, + 211.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.21544522154414, + 213.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.81352143289746, + 214.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 268.4115976442508, + 216.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 271.0096738556041, + 217.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 273.6077500669574, + 219.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 276.2058262783107, + 220.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 278.80390248966404, + 222.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 281.40197870101736, + 223.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 284.0000549123707, + 225.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 286.598131123724, + 226.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 289.1962073350773, + 228.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 291.7942835464306, + 229.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 294.39235975778394, + 231.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 296.99043596913725, + 232.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 299.58851218049057, + 234.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 302.1865883918439, + 235.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 304.7846646031972, + 237.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 307.3827408145505, + 238.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.98081702590383, + 240.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 312.57889323725715, + 241.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 315.17696944861046, + 243.23563335906857, + 0.19236742887963842 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 315.17696944861046, + 243.23563335906857, + 0.19236742887963842 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.17696944861046, + 243.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 315.17696944861046, + 246.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 315.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 315.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 315.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 315.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 315.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 318.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 321.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 324.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 327.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 330.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 333.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 336.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 339.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 342.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 345.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 348.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 351.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 354.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 357.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 360.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 363.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 363.17696944861046, + 249.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 365.7750456599638, + 247.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 368.3731218713171, + 246.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 370.9711980826704, + 244.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 373.5692742940237, + 243.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 376.16735050537704, + 241.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 378.76542671673036, + 240.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 381.3635029280837, + 238.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 383.961579139437, + 237.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 386.5596553507903, + 235.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 389.1577315621436, + 234.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 391.75580777349694, + 232.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 394.35388398485026, + 231.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 396.9519601962036, + 229.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 399.5500364075569, + 228.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 402.1481126189102, + 226.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 404.7461888302635, + 225.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 407.34426504161684, + 223.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 409.94234125297015, + 222.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 412.54041746432347, + 220.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 415.1384936756768, + 219.23563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 417.7365698870301, + 217.73563335906857, + 0.19236742887963842 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 420.3346460983834, + 216.23563335906857, + 0.19236742887963842 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-44-4_40610537/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-44-4_40610537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0e69d0a84e727a8bd55db817e515c6f423d62d8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-44-4_40610537/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 326.92274678969704, + -264.7240205058957, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 324.3246705783437, + -263.2240205058957, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 321.7265943669904, + -261.7240205058957, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 319.1285181556371, + -260.2240205058957, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 316.5304419442838, + -258.7240205058957, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 313.93236573293046, + -257.2240205058957, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.33428952157715, + -255.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 308.73621331022383, + -254.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.1381370988705, + -252.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 303.5400608875172, + -251.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.9419846761639, + -249.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.34390846481057, + -248.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.74583225345725, + -246.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 293.14775604210394, + -245.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 290.5496798307506, + -243.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 287.9516036193973, + -242.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.353527408044, + -240.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 282.75545119669067, + -239.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 280.15737498533736, + -237.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 277.55929877398404, + -236.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 274.9612225626307, + -234.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 272.3631463512774, + -233.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 269.7650701399241, + -231.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 267.1669939285708, + -230.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 264.56891771721746, + -228.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 261.97084150586414, + -227.22402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 259.3727652945108, + -225.72402050589568, + 1.1575061527066541 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 259.3727652945108, + -225.72402050589568, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 257.8727652945108, + -223.12594429454236, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 256.3727652945108, + -220.52786808318905, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 254.87276529451083, + -217.92979187183573, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 253.37276529451083, + -215.33171566048242, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 251.87276529451083, + -212.7336394491291, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 250.37276529451083, + -210.13556323777578, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 248.87276529451083, + -207.53748702642247, + 1.1575061527066541 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 248.87276529451083, + -207.53748702642247, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 246.2746890831575, + -206.03748702642247, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 243.6766128718042, + -204.53748702642247, + 1.1575061527066541 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 243.6766128718042, + -204.53748702642247, + 1.1575061527066541 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 243.6766128718042, + -204.53748702642247, + 1.1575061527066541 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 243.6766128718042, + -204.53748702642247, + 1.1575061527066541 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 243.6766128718042, + -204.53748702642247, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 245.1766128718042, + -201.93941081506915, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 246.6766128718042, + -199.34133460371584, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 248.1766128718042, + -196.74325839236252, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 249.6766128718042, + -194.1451821810092, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 251.1766128718042, + -191.5471059696559, + 1.1575061527066541 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 251.1766128718042, + -191.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 253.7746890831575, + -190.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 256.3727652945108, + -188.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 258.97084150586414, + -187.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 261.56891771721746, + -185.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 264.1669939285708, + -184.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 266.7650701399241, + -182.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 269.3631463512774, + -181.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 271.9612225626307, + -179.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 274.55929877398404, + -178.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 277.15737498533736, + -176.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 279.75545119669067, + -175.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 282.353527408044, + -173.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 284.9516036193973, + -172.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 287.5496798307506, + -170.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 290.14775604210394, + -169.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 292.74583225345725, + -167.5471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 295.34390846481057, + -166.0471059696559, + 1.1575061527066541 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 295.34390846481057, + -166.0471059696559, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 296.84390846481057, + -163.44902975830257, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 298.34390846481057, + -160.85095354694926, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 299.84390846481057, + -158.25287733559594, + 1.1575061527066541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 301.34390846481057, + -155.65480112424262, + 1.1575061527066541 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-46-26_1291554098/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-46-26_1291554098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f5894bd99c38204a6ab2bc943c7109fb8edec39 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-46-26_1291554098/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -163.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -166.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -169.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -172.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -175.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -178.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -181.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -184.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -190.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -193.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -196.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -199.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -202.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -205.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -208.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -211.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -214.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -217.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -220.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -223.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -226.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -229.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -232.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -235.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -238.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -241.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -244.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -247.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -250.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -250.35218820372546, + 48.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -252.95026441507878, + 46.91257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -255.5483406264321, + 45.41257845181592, + 3.6929764681829234 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -255.5483406264321, + 45.41257845181592, + 3.6929764681829234 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -255.5483406264321, + 45.41257845181592, + 3.6929764681829234 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -255.5483406264321, + 45.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -255.5483406264321, + 42.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -255.5483406264321, + 39.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -255.5483406264321, + 36.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -255.5483406264321, + 33.41257845181592, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -255.5483406264321, + 30.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -255.5483406264321, + 27.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -255.5483406264321, + 24.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -255.5483406264321, + 21.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -255.5483406264321, + 18.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -255.5483406264321, + 15.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -255.5483406264321, + 12.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -255.5483406264321, + 9.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -255.5483406264321, + 6.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -255.5483406264321, + 3.412578451815918, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -255.5483406264321, + 0.4125784518159179, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -255.5483406264321, + -2.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -255.5483406264321, + -5.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -255.5483406264321, + -8.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -255.5483406264321, + -11.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -255.5483406264321, + -14.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -255.5483406264321, + -17.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -255.5483406264321, + -20.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -255.5483406264321, + -23.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -255.5483406264321, + -26.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -255.5483406264321, + -29.587421548184082, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -255.5483406264321, + -32.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -255.5483406264321, + -35.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -255.5483406264321, + -38.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -255.5483406264321, + -41.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -255.5483406264321, + -44.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -255.5483406264321, + -47.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -255.5483406264321, + -50.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -255.5483406264321, + -53.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -255.5483406264321, + -56.58742154818408, + 3.6929764681829234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -255.5483406264321, + -59.58742154818408, + 3.6929764681829234 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-46-59_1655035325/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-46-59_1655035325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6ce887faa1cd252869c0e22744c122ff86ae96f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-46-59_1655035325/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 576.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 573.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 570.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 567.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 564.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 561.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 558.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 555.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 552.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 549.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 546.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 543.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 540.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 537.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 534.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 531.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 528.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 528.4270740186923, + -274.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 525.828997807339, + -275.50878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 523.2309215959856, + -277.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 520.6328453846322, + -278.50878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 518.0347691732788, + -280.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 515.4366929619255, + -281.50878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 512.8386167505721, + -283.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 510.2405405392188, + -284.50878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 507.64246432786547, + -286.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 505.04438811651215, + -287.50878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 502.44631190515884, + -289.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 499.8482356938055, + -290.50878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 497.2501594824522, + -292.00878384585207, + -2.078363392543748 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 497.2501594824522, + -292.00878384585207, + -2.078363392543748 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 497.2501594824522, + -292.00878384585207, + -2.078363392543748 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 497.2501594824522, + -292.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 497.2501594824522, + -295.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 497.2501594824522, + -298.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 497.2501594824522, + -301.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 497.2501594824522, + -304.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 497.2501594824522, + -307.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 497.2501594824522, + -310.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 497.2501594824522, + -313.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 497.2501594824522, + -316.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 497.2501594824522, + -319.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 497.2501594824522, + -322.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 497.2501594824522, + -325.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 497.2501594824522, + -328.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 497.2501594824522, + -331.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 497.2501594824522, + -334.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 497.2501594824522, + -337.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 497.2501594824522, + -340.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 497.2501594824522, + -343.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 497.2501594824522, + -346.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 497.2501594824522, + -349.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 497.2501594824522, + -352.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 497.2501594824522, + -355.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 497.2501594824522, + -358.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 497.2501594824522, + -361.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 497.2501594824522, + -364.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 497.2501594824522, + -367.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 497.2501594824522, + -370.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 497.2501594824522, + -373.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 497.2501594824522, + -376.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 497.2501594824522, + -379.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 497.2501594824522, + -382.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 497.2501594824522, + -385.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 497.2501594824522, + -388.00878384585207, + -2.078363392543748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 497.2501594824522, + -391.00878384585207, + -2.078363392543748 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-47-30_1905241081/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-47-30_1905241081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ab13b4a396e636081d630cb5cf84d5b341ceb0a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-47-30_1905241081/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1445.510969447343, + -178.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1445.510969447343, + -175.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1445.510969447343, + -172.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1445.510969447343, + -169.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1445.510969447343, + -166.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1445.510969447343, + -163.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1445.510969447343, + -160.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1445.510969447343, + -157.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1445.510969447343, + -154.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1445.510969447343, + -151.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1445.510969447343, + -148.3778240179155, + -4.6046952973934 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1445.510969447343, + -148.3778240179155, + -4.6046952973934 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1445.510969447343, + -148.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1442.9128932359897, + -146.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1440.3148170246363, + -145.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1437.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1437.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1437.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1437.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1437.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1437.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1437.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1440.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1443.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1446.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1449.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1452.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1455.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1455.716740813283, + -143.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1458.3148170246363, + -142.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1460.9128932359897, + -140.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1463.510969447343, + -139.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1466.1090456586965, + -137.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1468.7071218700498, + -136.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1471.3051980814032, + -134.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1473.9032742927566, + -133.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1476.50135050411, + -131.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1479.0994267154633, + -130.3778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1481.6975029268167, + -128.8778240179155, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1484.29557913817, + -127.37782401791549, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1486.8936553495234, + -125.87782401791549, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1489.4917315608768, + -124.37782401791549, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1492.0898077722302, + -122.87782401791549, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1494.6878839835836, + -121.37782401791549, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1497.285960194937, + -119.87782401791549, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1499.8840364062903, + -118.37782401791549, + -4.6046952973934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1502.4821126176437, + -116.87782401791549, + -4.6046952973934 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-49-32_1047372231/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-49-32_1047372231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ee3b69f549a11d54644f59deca382c8c11e0063 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-49-32_1047372231/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 125.15273825694756, + 72.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 122.55466204559424, + 70.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 119.95658583424093, + 69.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.35850962288761, + 67.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 114.7604334115343, + 66.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 112.16235720018098, + 64.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.56428098882766, + 63.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 106.96620477747435, + 61.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 104.36812856612103, + 60.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 101.77005235476771, + 58.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 99.1719761434144, + 57.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 96.57389993206108, + 55.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 93.97582372070777, + 54.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.37774750935445, + 52.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 88.77967129800113, + 51.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.18159508664782, + 49.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.5835188752945, + 48.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 80.98544266394119, + 46.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 78.38736645258787, + 45.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 75.78929024123455, + 43.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 73.19121402988124, + 42.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 70.59313781852792, + 40.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 67.9950616071746, + 39.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 65.39698539582129, + 37.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 62.79890918446797, + 36.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 60.20083297311466, + 34.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 57.60275676176134, + 33.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 55.004680550408025, + 31.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 52.40660433905471, + 30.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 49.80852812770139, + 28.63208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 47.21045191634808, + 27.13208077190417, + 1.4773793633647152 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 47.21045191634808, + 27.13208077190417, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 45.71045191634808, + 24.534004560550855, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 44.21045191634808, + 21.93592834919754, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 42.71045191634808, + 19.337852137844223, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 41.21045191634808, + 16.739775926490907, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 39.71045191634808, + 14.141699715137591, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 38.21045191634808, + 11.543623503784275, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 36.71045191634808, + 8.945547292430959, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 35.21045191634808, + 6.347471081077643, + 1.4773793633647152 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 35.21045191634808, + 6.347471081077643, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 35.21045191634808, + 3.347471081077643, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 35.21045191634808, + 0.3474710810776429, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 35.21045191634808, + -2.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 35.21045191634808, + -5.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 35.21045191634808, + -8.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 35.21045191634808, + -11.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 35.21045191634808, + -14.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 35.21045191634808, + -17.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 35.21045191634808, + -20.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 35.21045191634808, + -23.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 35.21045191634808, + -26.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 35.21045191634808, + -29.652528918922357, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 35.21045191634808, + -32.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 35.21045191634808, + -35.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 35.21045191634808, + -38.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 35.21045191634808, + -41.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 35.21045191634808, + -44.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 35.21045191634808, + -47.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 35.21045191634808, + -50.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 35.21045191634808, + -53.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 35.21045191634808, + -56.65252891892236, + 1.4773793633647152 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 35.21045191634808, + -56.65252891892236, + 1.4773793633647152 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 35.21045191634808, + -56.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 32.61237570499476, + -58.15252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 30.014299493641445, + -59.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 27.41622328228813, + -61.15252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 24.818147070934813, + -62.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 22.220070859581497, + -64.15252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 19.62199464822818, + -65.65252891892236, + 1.4773793633647152 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 19.62199464822818, + -65.65252891892236, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 18.12199464822818, + -68.25060513027567, + 1.4773793633647152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 16.62199464822818, + -70.84868134162899, + 1.4773793633647152 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-5-41_887077888/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-5-41_887077888/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8cb0a12e2b94716917117e74a0e253ad403aaff --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-5-41_887077888/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 466.83119169024917, + -600.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 466.83119169024917, + -597.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.83119169024917, + -594.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 466.83119169024917, + -591.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 466.83119169024917, + -588.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 466.83119169024917, + -585.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 466.83119169024917, + -582.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 466.83119169024917, + -579.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 466.83119169024917, + -576.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 466.83119169024917, + -573.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 466.83119169024917, + -570.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 466.83119169024917, + -567.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 466.83119169024917, + -564.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 466.83119169024917, + -561.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 466.83119169024917, + -558.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 466.83119169024917, + -555.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 466.83119169024917, + -552.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 466.83119169024917, + -549.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 466.83119169024917, + -546.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 466.83119169024917, + -543.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 466.83119169024917, + -540.4917076595051, + 3.063028897142649 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 466.83119169024917, + -540.4917076595051, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 465.33119169024917, + -537.8936314481518, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 463.83119169024917, + -535.2955552367985, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 462.33119169024917, + -532.6974790254451, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 460.83119169024917, + -530.0994028140917, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 459.33119169024917, + -527.5013266027383, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 457.83119169024917, + -524.903250391385, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 456.33119169024917, + -522.3051741800316, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 454.83119169024917, + -519.7070979686782, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 453.33119169024917, + -517.1090217573249, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 451.83119169024917, + -514.5109455459715, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 450.33119169024917, + -511.91286933461816, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 448.83119169024917, + -509.31479312326485, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 447.33119169024917, + -506.71671691191153, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 445.83119169024917, + -504.1186407005582, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 444.33119169024917, + -501.5205644892049, + 3.063028897142649 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 444.33119169024917, + -501.5205644892049, + 3.063028897142649 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 444.33119169024917, + -501.5205644892049, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 445.83119169024917, + -498.9224882778516, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 447.33119169024917, + -496.32441206649827, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 448.83119169024917, + -493.72633585514495, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 450.33119169024917, + -491.12825964379164, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 451.83119169024917, + -488.5301834324383, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 453.33119169024917, + -485.932107221085, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 454.83119169024917, + -483.3340310097317, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 456.33119169024917, + -480.7359547983784, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 457.83119169024917, + -478.13787858702506, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 459.33119169024917, + -475.53980237567174, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 460.83119169024917, + -472.9417261643184, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 462.33119169024917, + -470.3436499529651, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 463.83119169024917, + -467.7455737416118, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 465.33119169024917, + -465.1474975302585, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 466.83119169024917, + -462.54942131890516, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 468.33119169024917, + -459.95134510755184, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 469.83119169024917, + -457.35326889619853, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 471.33119169024917, + -454.7551926848452, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 472.83119169024917, + -452.1571164734919, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 474.33119169024917, + -449.5590402621386, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 475.83119169024917, + -446.96096405078526, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 477.33119169024917, + -444.36288783943195, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 478.83119169024917, + -441.76481162807863, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 480.33119169024917, + -439.1667354167253, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 481.83119169024917, + -436.568659205372, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 483.33119169024917, + -433.9705829940187, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 484.83119169024917, + -431.37250678266537, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 486.33119169024917, + -428.77443057131205, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 487.83119169024917, + -426.17635435995874, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 489.33119169024917, + -423.5782781486054, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 490.83119169024917, + -420.9802019372521, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 492.33119169024917, + -418.3821257258988, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 493.83119169024917, + -415.7840495145455, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 495.33119169024917, + -413.18597330319216, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 496.83119169024917, + -410.58789709183884, + 3.063028897142649 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 496.83119169024917, + -410.58789709183884, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 496.83119169024917, + -407.58789709183884, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 496.83119169024917, + -404.58789709183884, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 496.83119169024917, + -401.58789709183884, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 496.83119169024917, + -398.58789709183884, + 3.063028897142649 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 496.83119169024917, + -395.58789709183884, + 3.063028897142649 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-52-33_628974580/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-52-33_628974580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e67c9ebd1d245ca6c872e1e6eafd4841c6fc0b3b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-52-33_628974580/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.45429782671, + 305.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 387.8562216153567, + 304.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.25814540400336, + 302.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.66006919265004, + 301.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 380.0619929812967, + 299.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.4639167699434, + 298.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 374.8658405585901, + 296.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 372.2677643472368, + 295.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 369.66968813588346, + 293.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 367.07161192453015, + 292.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 364.47353571317683, + 290.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 361.8754595018235, + 289.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 359.2773832904702, + 287.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 356.6793070791169, + 286.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 354.08123086776357, + 284.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 351.48315465641025, + 283.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 348.88507844505693, + 281.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.2870022337036, + 280.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 343.6889260223503, + 278.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 341.090849810997, + 277.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.49277359964367, + 275.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 335.89469738829035, + 274.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 333.29662117693704, + 272.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 330.6985449655837, + 271.4375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.1004687542304, + 269.9375717553909, + 0.29877867448340734 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 328.1004687542304, + 269.9375717553909, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.6004687542304, + 267.33949554403756, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.1004687542304, + 264.74141933268425, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.6004687542304, + 262.14334312133093, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 322.1004687542304, + 259.5452669099776, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 320.6004687542304, + 256.9471906986243, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 319.1004687542304, + 254.34911448727098, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 317.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 317.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 317.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 317.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 317.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 317.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 320.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 323.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 326.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 329.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 332.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 335.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 338.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 341.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 344.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 347.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 350.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 353.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 353.6004687542304, + 251.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 356.1985449655837, + 250.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 358.79662117693704, + 248.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 361.39469738829035, + 247.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 363.99277359964367, + 245.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 366.590849810997, + 244.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 369.1889260223503, + 242.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 371.7870022337036, + 241.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 374.38507844505693, + 239.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 376.98315465641025, + 238.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 379.58123086776357, + 236.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 382.1793070791169, + 235.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 384.7773832904702, + 233.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 387.3754595018235, + 232.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 389.97353571317683, + 230.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 392.57161192453015, + 229.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 395.16968813588346, + 227.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 397.7677643472368, + 226.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 400.3658405585901, + 224.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 402.9639167699434, + 223.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 405.5619929812967, + 221.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 408.16006919265004, + 220.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 410.75814540400336, + 218.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 413.3562216153567, + 217.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 415.95429782671, + 215.75103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 418.5523740380633, + 214.25103827591767, + 0.29877867448340734 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 421.1504502494166, + 212.75103827591767, + 0.29877867448340734 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-53-47_786039021/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-53-47_786039021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6dd0bc2282c73c0c8ca68d4d6420546cc60699c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-53-47_786039021/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 75.70339525029085, + 78.3576565537288, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 77.20339525029085, + 80.95573276508212, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 78.70339525029085, + 83.55380897643543, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 80.20339525029085, + 86.15188518778875, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 81.70339525029085, + 88.74996139914207, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 83.20339525029085, + 91.34803761049538, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 84.70339525029085, + 93.9461138218487, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 86.20339525029085, + 96.54419003320201, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 87.70339525029085, + 99.14226624455533, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.20339525029085, + 101.74034245590865, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 90.70339525029085, + 104.33841866726196, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 92.20339525029085, + 106.93649487861528, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 93.70339525029085, + 109.5345710899686, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 95.20339525029085, + 112.13264730132191, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 96.70339525029085, + 114.73072351267523, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 98.20339525029085, + 117.32879972402854, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 99.70339525029085, + 119.92687593538186, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 101.20339525029085, + 122.52495214673517, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 102.70339525029085, + 125.12302835808849, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 104.20339525029085, + 127.7211045694418, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 105.70339525029085, + 130.31918078079514, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 107.20339525029085, + 132.91725699214845, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 108.70339525029085, + 135.51533320350177, + -2.1236160175768957 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 108.70339525029085, + 135.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 108.70339525029085, + 138.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 108.70339525029085, + 141.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 108.70339525029085, + 144.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 108.70339525029085, + 147.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 108.70339525029085, + 150.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 108.70339525029085, + 153.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 108.70339525029085, + 156.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 108.70339525029085, + 159.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 108.70339525029085, + 162.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 108.70339525029085, + 165.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 108.70339525029085, + 168.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 108.70339525029085, + 171.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 108.70339525029085, + 174.51533320350177, + -2.1236160175768957 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 108.70339525029085, + 174.51533320350177, + -2.1236160175768957 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 108.70339525029085, + 174.51533320350177, + -2.1236160175768957 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 108.70339525029085, + 174.51533320350177, + -2.1236160175768957 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 108.70339525029085, + 174.51533320350177, + -2.1236160175768957 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 108.70339525029085, + 174.51533320350177, + -2.1236160175768957 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 108.70339525029085, + 174.51533320350177, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 110.20339525029085, + 171.91725699214845, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 111.70339525029085, + 169.31918078079514, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 113.20339525029085, + 166.72110456944182, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 114.70339525029085, + 164.1230283580885, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 116.20339525029085, + 161.5249521467352, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 117.70339525029085, + 158.92687593538187, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 119.20339525029085, + 156.32879972402856, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 120.70339525029085, + 153.73072351267524, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 122.20339525029085, + 151.13264730132192, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 123.70339525029085, + 148.5345710899686, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 125.20339525029085, + 145.9364948786153, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 126.70339525029085, + 143.33841866726198, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 128.20339525029087, + 140.74034245590866, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965936 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 129.70339525029087, + 138.14226624455534, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 131.20339525029087, + 135.54419003320203, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 132.70339525029087, + 132.9461138218487, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 134.20339525029087, + 130.3480376104954, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 135.70339525029087, + 127.74996139914208, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 137.20339525029087, + 125.15188518778876, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 138.70339525029087, + 122.55380897643545, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 140.20339525029087, + 119.95573276508213, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 141.70339525029087, + 117.35765655372882, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 143.20339525029087, + 114.7595803423755, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 144.70339525029087, + 112.16150413102218, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 146.20339525029087, + 109.56342791966887, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 147.70339525029087, + 106.96535170831555, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 149.20339525029087, + 104.36727549696224, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 150.70339525029087, + 101.76919928560892, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 152.20339525029087, + 99.1711230742556, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 153.70339525029087, + 96.57304686290229, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 155.20339525029087, + 93.97497065154897, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 156.70339525029087, + 91.37689444019566, + -2.1236160175768957 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 156.70339525029087, + 91.37689444019566, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 156.70339525029087, + 88.37689444019566, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 156.70339525029087, + 85.37689444019566, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 156.70339525029087, + 82.37689444019566, + -2.1236160175768957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 156.70339525029087, + 79.37689444019566, + -2.1236160175768957 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-56-9_586235379/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-56-9_586235379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba8bda5c5eaec812cf601c2a060321d2bc171f00 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-56-9_586235379/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -182.04048202252199, + -152.64253870479646, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -183.54048202252199, + -150.04446249344315, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.04048202252199, + -147.44638628208983, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -186.54048202252199, + -144.84831007073652, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -188.04048202252199, + -142.2502338593832, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -189.54048202252199, + -139.65215764802988, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -191.04048202252199, + -137.05408143667657, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -192.54048202252199, + -134.45600522532325, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -194.04048202252199, + -131.85792901396994, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -195.54048202252199, + -129.25985280261662, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -197.04048202252199, + -126.6617765912633, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -198.54048202252199, + -124.06370037990999, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -200.04048202252199, + -121.46562416855667, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -201.54048202252199, + -118.86754795720336, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -203.04048202252199, + -116.26947174585004, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -204.54048202252199, + -113.67139553449672, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -206.04048202252199, + -111.07331932314341, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -207.54048202252199, + -108.47524311179009, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -209.04048202252199, + -105.87716690043678, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -210.54048202252199, + -103.27909068908346, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -212.04048202252199, + -100.68101447773014, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -213.54048202252199, + -98.08293826637683, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -215.04048202252199, + -95.48486205502351, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -216.54048202252199, + -92.8867858436702, + 1.1462626853761373 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -216.54048202252199, + -92.8867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -219.1385582338753, + -91.3867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -221.73663444522862, + -89.8867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -224.33471065658193, + -88.3867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -226.93278686793525, + -86.8867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.53086307928857, + -85.3867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -232.12893929064188, + -83.8867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -234.7270155019952, + -82.3867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -237.3250917133485, + -80.8867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -239.92316792470183, + -79.3867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -242.52124413605515, + -77.8867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -245.11932034740846, + -76.3867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -247.71739655876178, + -74.8867858436702, + 1.1462626853761373 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -247.71739655876178, + -74.8867858436702, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -249.21739655876178, + -72.28870963231688, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -250.71739655876178, + -69.69063342096356, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -252.21739655876178, + -67.09255720961025, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -253.71739655876178, + -64.49448099825693, + 1.1462626853761373 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -253.71739655876178, + -64.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -253.71739655876178, + -61.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -253.71739655876178, + -58.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -253.71739655876178, + -55.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -253.71739655876178, + -52.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -253.71739655876178, + -49.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -253.71739655876178, + -46.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -253.71739655876178, + -43.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -253.71739655876178, + -40.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -253.71739655876178, + -37.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -253.71739655876178, + -34.49448099825693, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -253.71739655876178, + -31.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -253.71739655876178, + -28.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -253.71739655876178, + -25.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -253.71739655876178, + -22.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -253.71739655876178, + -19.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -253.71739655876178, + -16.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -253.71739655876178, + -13.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -253.71739655876178, + -10.494480998256932, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -253.71739655876178, + -7.4944809982569325, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -253.71739655876178, + -4.4944809982569325, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -253.71739655876178, + -1.4944809982569325, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -253.71739655876178, + 1.5055190017430675, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -253.71739655876178, + 4.5055190017430675, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -253.71739655876178, + 7.5055190017430675, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -253.71739655876178, + 10.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -253.71739655876178, + 13.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -253.71739655876178, + 16.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -253.71739655876178, + 19.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -253.71739655876178, + 22.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -253.71739655876178, + 25.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -253.71739655876178, + 28.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -253.71739655876178, + 31.505519001743068, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -253.71739655876178, + 34.50551900174307, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -253.71739655876178, + 37.50551900174307, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -253.71739655876178, + 40.50551900174307, + 1.1462626853761373 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -253.71739655876178, + 40.50551900174307, + 1.1462626853761373 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -253.71739655876178, + 40.50551900174307, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -256.3154727701151, + 42.00551900174307, + 1.1462626853761373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -258.9135489814684, + 43.50551900174307, + 1.1462626853761373 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-57-18_262692685/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-57-18_262692685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dca1b1b3a78df8cdb8adf85398d69ea17ab18d0c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-57-18_262692685/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -102.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -99.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -96.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -93.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -90.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -87.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -84.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -81.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -78.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -75.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -72.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -69.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -66.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -63.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -60.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -57.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -54.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -51.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -48.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -45.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -45.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -45.04616008765858, + -499.1728864528863, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -43.54616008765858, + -496.574810241533, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -42.04616008765858, + -493.97673403017967, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -40.54616008765858, + -491.37865781882635, + -0.6916755589095391 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -40.54616008765858, + -491.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -37.94808387630526, + -489.87865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -35.350007664951946, + -488.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -32.75193145359863, + -486.87865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -30.153855242245314, + -485.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -27.555779030891998, + -483.87865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -24.95770281953868, + -482.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -22.359626608185366, + -480.87865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -19.76155039683205, + -479.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -17.163474185478734, + -477.87865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -14.565397974125418, + -476.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -11.967321762772102, + -474.87865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -9.369245551418786, + -473.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -6.7711693400654696, + -471.87865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -4.1730931287121535, + -470.37865781882635, + -0.6916755589095391 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -4.1730931287121535, + -470.37865781882635, + -0.6916755589095391 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -4.1730931287121535, + -470.37865781882635, + -0.6916755589095391 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -4.1730931287121535, + -470.37865781882635, + -0.6916755589095391 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -4.1730931287121535, + -470.37865781882635, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -5.673093128712153, + -467.78058160747304, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -7.173093128712152, + -465.1825053961197, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -8.673093128712152, + -462.5844291847664, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -10.173093128712152, + -459.9863529734131, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -11.673093128712152, + -457.3882767620598, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -13.173093128712152, + -454.79020055070646, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -14.673093128712152, + -452.19212433935314, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -16.17309312871215, + -449.5940481279998, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393195 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -17.67309312871215, + -446.9959719166465, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -19.17309312871215, + -444.3978957052932, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -20.67309312871215, + -441.7998194939399, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -22.17309312871215, + -439.20174328258656, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -23.67309312871215, + -436.60366707123325, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -25.17309312871215, + -434.00559085987993, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -26.67309312871215, + -431.4075146485266, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -28.17309312871215, + -428.8094384371733, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -29.67309312871215, + -426.21136222582, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -31.17309312871215, + -423.61328601446667, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -32.673093128712146, + -421.01520980311335, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -34.173093128712146, + -418.41713359176003, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -35.673093128712146, + -415.8190573804067, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -37.173093128712146, + -413.2209811690534, + -0.6916755589095391 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -37.173093128712146, + -413.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -37.173093128712146, + -410.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -37.173093128712146, + -407.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -37.173093128712146, + -404.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -37.173093128712146, + -401.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -37.173093128712146, + -398.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -37.173093128712146, + -395.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -37.173093128712146, + -392.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -37.173093128712146, + -389.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -37.173093128712146, + -386.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -37.173093128712146, + -383.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -37.173093128712146, + -380.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -37.173093128712146, + -377.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -37.173093128712146, + -374.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -37.173093128712146, + -371.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -37.173093128712146, + -368.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -37.173093128712146, + -365.2209811690534, + -0.6916755589095391 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -37.173093128712146, + -362.2209811690534, + -0.6916755589095391 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-58-28_1338299904/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-58-28_1338299904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cb416722d18b150e8a1f9051c3ff1c5321207bd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-58-28_1338299904/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 6.161527533140482, + -650.82323768887, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4.661527533140483, + -653.4213139002234, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3.161527533140484, + -656.0193901115767, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1.6615275331404848, + -658.6174663229301, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 0.1615275331404855, + -661.2155425342835, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1.3384724668595138, + -663.8136187456369, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2.838472466859513, + -666.4116949569902, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.338472466859512, + -669.0097711683436, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -5.838472466859511, + -671.607847379697, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -7.3384724668595105, + -674.2059235910504, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -8.83847246685951, + -676.8039998024037, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -10.33847246685951, + -679.4020760137571, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -11.83847246685951, + -682.0001522251105, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -13.33847246685951, + -684.5982284364638, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -14.83847246685951, + -687.1963046478172, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -16.33847246685951, + -689.7943808591706, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -17.83847246685951, + -692.392457070524, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -19.33847246685951, + -694.9905332818773, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -20.83847246685951, + -697.5886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -22.33847246685951, + -700.1866857045841, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -23.83847246685951, + -702.7847619159375, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -25.33847246685951, + -705.3828381272908, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -26.83847246685951, + -707.9809143386442, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -28.33847246685951, + -710.5789905499976, + 3.233094356555643 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -28.33847246685951, + -710.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.33847246685951, + -713.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -28.33847246685951, + -716.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -28.33847246685951, + -719.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -28.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -28.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -28.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -28.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -28.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -25.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -22.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -19.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -16.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -13.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -10.33847246685951, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -7.3384724668595105, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -4.3384724668595105, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1.3384724668595105, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1.6615275331404895, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4.6615275331404895, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 7.6615275331404895, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 10.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 13.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 16.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 19.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 22.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 25.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 28.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 31.66152753314049, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 34.661527533140486, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 37.661527533140486, + -722.5789905499976, + 3.233094356555643 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 37.661527533140486, + -722.5789905499976, + 3.233094356555643 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 37.661527533140486, + -722.5789905499976, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 39.161527533140486, + -719.9809143386442, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 40.661527533140486, + -717.3828381272908, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 42.161527533140486, + -714.7847619159375, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 43.661527533140486, + -712.1866857045841, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 45.161527533140486, + -709.5886094932307, + 3.233094356555643 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 45.161527533140486, + -709.5886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 47.7596037444938, + -708.0886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 50.35767995584712, + -706.5886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 52.955756167200434, + -705.0886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 55.55383237855375, + -703.5886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 58.151908589907066, + -702.0886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 60.74998480126038, + -700.5886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 63.3480610126137, + -699.0886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 65.94613722396701, + -697.5886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 68.54421343532033, + -696.0886094932307, + 3.233094356555643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 71.14228964667365, + -694.5886094932307, + 3.233094356555643 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-59-42_1985433483/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-59-42_1985433483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e56bfd7ce4a409a932a5b0474090367de1acd2f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-59-42_1985433483/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1043.914924327949, + -141.4796946579216, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1045.414924327949, + -144.07777086927493, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1046.914924327949, + -146.67584708062824, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1048.414924327949, + -149.27392329198156, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1049.914924327949, + -151.87199950333488, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1051.414924327949, + -154.4700757146882, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1052.914924327949, + -157.0681519260415, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1054.414924327949, + -159.66622813739482, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1055.914924327949, + -162.26430434874814, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1057.414924327949, + -164.86238056010146, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1058.914924327949, + -167.46045677145477, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1060.414924327949, + -170.0585329828081, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1061.914924327949, + -172.6566091941614, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1063.414924327949, + -175.25468540551472, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1064.914924327949, + -177.85276161686804, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1066.414924327949, + -180.45083782822135, + 2.8049508996883077 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1066.414924327949, + -180.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1066.414924327949, + -183.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1066.414924327949, + -186.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1066.414924327949, + -189.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1066.414924327949, + -192.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1066.414924327949, + -195.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1066.414924327949, + -198.45083782822135, + 2.8049508996883077 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1066.414924327949, + -198.45083782822135, + 2.8049508996883077 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1066.414924327949, + -198.45083782822135, + 2.8049508996883077 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1066.414924327949, + -198.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1063.8168481165956, + -199.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1061.2187719052422, + -201.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1058.6206956938888, + -202.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1056.0226194825354, + -204.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1053.424543271182, + -205.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1050.8264670598287, + -207.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1048.2283908484753, + -208.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1045.630314637122, + -210.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1043.0322384257686, + -211.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1040.4341622144152, + -213.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1037.8360860030618, + -214.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1035.2380097917085, + -216.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1032.639933580355, + -217.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1030.0418573690017, + -219.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1027.4437811576483, + -220.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1024.845704946295, + -222.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1022.2476287349416, + -223.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1019.6495525235882, + -225.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1017.0514763122349, + -226.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1014.4534001008815, + -228.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1011.8553238895281, + -229.95083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1009.2572476781747, + -231.45083782822135, + 2.8049508996883077 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1009.2572476781747, + -231.45083782822135, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1007.7572476781747, + -234.04891403957467, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1006.2572476781747, + -236.64699025092798, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1004.7572476781747, + -239.2450664622813, + 2.8049508996883077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1003.2572476781747, + -241.84314267363462, + 2.8049508996883077 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-6-19_530498338/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-6-19_530498338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..424e09d186bb140b34e3d54d5bd1e754ed0d4fd1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-6-19_530498338/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 527.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 530.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 533.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 536.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 539.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 542.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 542.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 542.5374104111315, + -19.43011683803595, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 544.0374104111315, + -16.832040626682634, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 545.5374104111315, + -14.233964415329318, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 547.0374104111315, + -11.635888203976002, + 1.4054850211902288 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 547.0374104111315, + -11.635888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 549.6354866224849, + -10.135888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 552.2335628338383, + -8.635888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 554.8316390451917, + -7.135888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 557.429715256545, + -5.635888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 560.0277914678984, + -4.135888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 562.6258676792518, + -2.635888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 565.2239438906051, + -1.135888203976002, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 567.8220201019585, + 0.3641117960239977, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 570.4200963133119, + 1.8641117960239975, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 573.0181725246653, + 3.3641117960239972, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 575.6162487360186, + 4.864111796023997, + 1.4054850211902288 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 575.6162487360186, + 4.864111796023997, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 577.1162487360186, + 7.462188007377313, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 578.6162487360186, + 10.06026421873063, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 580.1162487360186, + 12.658340430083946, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 581.6162487360186, + 15.256416641437262, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 583.1162487360186, + 17.854492852790578, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 584.6162487360186, + 20.452569064143894, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 586.1162487360186, + 23.05064527549721, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 587.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 587.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 587.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 587.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 590.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 593.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 596.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 596.6162487360186, + 25.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 599.214324947372, + 24.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 601.8124011587254, + 22.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 604.4104773700788, + 21.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 607.0085535814321, + 19.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 609.6066297927855, + 18.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 612.2047060041389, + 16.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 614.8027822154922, + 15.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 617.4008584268456, + 13.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 619.998934638199, + 12.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 622.5970108495524, + 10.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 625.1950870609057, + 9.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 627.7931632722591, + 7.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 630.3912394836125, + 6.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 632.9893156949659, + 4.648721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 635.5873919063192, + 3.148721486850526, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 638.1854681176726, + 1.6487214868505264, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 640.783544329026, + 0.14872148685052666, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 643.3816205403793, + -1.3512785131494731, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 645.9796967517327, + -2.851278513149473, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 648.5777729630861, + -4.351278513149473, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 651.1758491744395, + -5.851278513149473, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 653.7739253857928, + -7.351278513149473, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 656.3720015971462, + -8.851278513149472, + 1.4054850211902288 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 658.9700778084996, + -10.351278513149472, + 1.4054850211902288 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982892 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-6-56_873524566/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-6-56_873524566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e377194e0223e594591f6724b0e40cbcd7905830 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-6-56_873524566/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -52.3736465887803, + -77.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.97172280013362, + -78.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.569799011486936, + -80.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -60.16787522284025, + -81.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -62.76595143419357, + -83.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.36402764554688, + -84.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -67.9621038569002, + -86.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -70.56018006825352, + -87.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -73.15825627960683, + -89.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -75.75633249096015, + -90.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -78.35440870231346, + -92.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -80.95248491366678, + -93.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -83.5505611250201, + -95.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -86.14863733637341, + -96.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -88.74671354772673, + -98.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -91.34478975908004, + -99.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.94286597043336, + -101.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -96.54094218178668, + -102.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -99.13901839313999, + -104.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -101.73709460449331, + -105.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -104.33517081584662, + -107.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -106.93324702719994, + -108.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -109.53132323855326, + -110.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -112.12939944990657, + -111.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -114.72747566125989, + -113.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -117.3255518726132, + -114.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -119.92362808396652, + -116.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -122.52170429531984, + -117.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -125.11978050667315, + -119.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -127.71785671802647, + -120.78228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -130.31593292937978, + -122.28228223955085, + 1.3320994743416223 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -130.31593292937978, + -122.28228223955085, + 1.3320994743416223 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -130.31593292937978, + -122.28228223955085, + 1.3320994743416223 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -130.31593292937978, + -122.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -130.31593292937978, + -125.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -130.31593292937978, + -128.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -130.31593292937978, + -131.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -130.31593292937978, + -134.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -130.31593292937978, + -137.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -130.31593292937978, + -140.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -130.31593292937978, + -143.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -130.31593292937978, + -146.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -130.31593292937978, + -149.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -130.31593292937978, + -152.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -130.31593292937978, + -155.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -130.31593292937978, + -158.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -130.31593292937978, + -161.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -130.31593292937978, + -164.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -130.31593292937978, + -167.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -130.31593292937978, + -170.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -130.31593292937978, + -173.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -130.31593292937978, + -176.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -130.31593292937978, + -179.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -130.31593292937978, + -182.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -130.31593292937978, + -185.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -130.31593292937978, + -188.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -130.31593292937978, + -191.28228223955085, + 1.3320994743416223 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -130.31593292937978, + -191.28228223955085, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -131.81593292937978, + -193.88035845090417, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -133.31593292937978, + -196.47843466225748, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -134.81593292937978, + -199.0765108736108, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -136.31593292937978, + -201.67458708496412, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -137.81593292937978, + -204.27266329631743, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -139.31593292937978, + -206.87073950767075, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -140.81593292937978, + -209.46881571902406, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -142.31593292937978, + -212.06689193037738, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -143.81593292937978, + -214.6649681417307, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -145.31593292937978, + -217.263044353084, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -146.81593292937978, + -219.86112056443733, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -148.31593292937978, + -222.45919677579064, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -149.81593292937978, + -225.05727298714396, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -151.31593292937978, + -227.65534919849728, + 1.3320994743416223 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -151.31593292937978, + -227.65534919849728, + 1.3320994743416223 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -151.31593292937978, + -230.65534919849728, + 1.3320994743416223 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-7-29_37487770/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-7-29_37487770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..648ae4cc02789595881310c2f7fa4bf4281d2786 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_3-7-29_37487770/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 471.5358957359413, + -472.259246037981, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 473.0358957359413, + -469.66116982662766, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 474.5358957359413, + -467.06309361527434, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 476.0358957359413, + -464.465017403921, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 477.5358957359413, + -461.8669411925677, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 479.0358957359413, + -459.2688649812144, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 480.5358957359413, + -456.6707887698611, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 482.0358957359413, + -454.07271255850776, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 483.5358957359413, + -451.47463634715444, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 485.0358957359413, + -448.8765601358011, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.5358957359413, + -446.2784839244478, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 488.0358957359413, + -443.6804077130945, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 489.5358957359413, + -441.0823315017412, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 491.0358957359413, + -438.48425529038786, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 492.5358957359413, + -435.88617907903455, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 494.0358957359413, + -433.28810286768123, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 495.5358957359413, + -430.6900266563279, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 497.0358957359413, + -428.0919504449746, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 498.5358957359413, + -425.4938742336213, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 500.0358957359413, + -422.89579802226797, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 501.5358957359413, + -420.29772181091465, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 503.0358957359413, + -417.69964559956134, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 504.5358957359413, + -415.101569388208, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 506.0358957359413, + -412.5034931768547, + 0.18493782867959307 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 506.0358957359413, + -412.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 506.0358957359413, + -409.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 506.0358957359413, + -406.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 506.0358957359413, + -403.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 506.0358957359413, + -400.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 506.0358957359413, + -397.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 506.0358957359413, + -394.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 506.0358957359413, + -391.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 506.0358957359413, + -388.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 506.0358957359413, + -385.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 506.0358957359413, + -382.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 506.0358957359413, + -379.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 506.0358957359413, + -376.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 506.0358957359413, + -373.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 506.0358957359413, + -370.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 506.0358957359413, + -367.5034931768547, + 0.18493782867959307 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 506.0358957359413, + -367.5034931768547, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 504.5358957359413, + -364.9054169655014, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 503.0358957359413, + -362.3073407541481, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 501.5358957359413, + -359.70926454279476, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 500.0358957359413, + -357.11118833144144, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 498.5358957359413, + -354.5131121200881, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 497.0358957359413, + -351.9150359087348, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 495.5358957359413, + -349.3169596973815, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 494.0358957359413, + -346.7188834860282, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 492.5358957359413, + -344.12080727467486, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 491.0358957359413, + -341.52273106332154, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 489.5358957359413, + -338.9246548519682, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 488.0358957359413, + -336.3265786406149, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 486.5358957359413, + -333.7285024292616, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 485.0358957359413, + -331.1304262179083, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 483.5358957359413, + -328.53235000655496, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 482.0358957359413, + -325.93427379520165, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 480.5358957359413, + -323.33619758384833, + 0.18493782867959307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 479.0358957359413, + -320.738121372495, + 0.18493782867959307 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-0-43_606199759/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-0-43_606199759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5f82df5d9dba6253e0d8ce60d37471fdacf649c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-0-43_606199759/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 722.2839302203447, + 16.218048736400377, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 720.7839302203447, + 13.61997252504706, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 719.2839302203447, + 11.021896313693745, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 717.7839302203447, + 8.423820102340429, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 716.2839302203447, + 5.825743890987113, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 714.7839302203447, + 3.2276676796337966, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 713.2839302203447, + 0.6295914682804806, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 711.7839302203447, + -1.9684847430728354, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 710.2839302203447, + -4.566560954426151, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 708.7839302203447, + -7.164637165779467, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 707.2839302203447, + -9.762713377132783, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 705.7839302203447, + -12.3607895884861, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 704.2839302203447, + -14.958865799839415, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 702.7839302203447, + -17.55694201119273, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 701.2839302203447, + -20.155018222546047, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 699.7839302203447, + -22.753094433899363, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 698.2839302203447, + -25.35117064525268, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 696.7839302203447, + -27.949246856605996, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 695.2839302203447, + -30.54732306795931, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 693.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 693.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 693.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 693.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 693.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 693.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 696.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 699.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 702.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 705.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 708.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 711.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 714.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 717.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 720.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 723.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 726.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 729.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 732.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 735.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 738.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 741.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 744.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 747.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 750.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 753.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 756.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 759.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 762.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 765.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 768.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 771.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 771.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 771.7839302203447, + -33.14539927931263, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 773.2839302203447, + -30.54732306795931, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 774.7839302203447, + -27.949246856605996, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 776.2839302203447, + -25.35117064525268, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 777.7839302203447, + -22.753094433899363, + 1.8863741983141598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 779.2839302203447, + -20.155018222546047, + 1.8863741983141598 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-0-9_395279207/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-0-9_395279207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06881670b366667f6895eba7f967b2b456542456 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-0-9_395279207/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 489.11835151683346, + -571.7193344527894, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 487.61835151683346, + -569.1212582414362, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 486.11835151683346, + -566.5231820300828, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 484.61835151683346, + -563.9251058187294, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 483.11835151683346, + -561.3270296073761, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 481.61835151683346, + -558.7289533960227, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 480.11835151683346, + -556.1308771846693, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 478.61835151683346, + -553.532800973316, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 477.11835151683346, + -550.9347247619626, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 475.61835151683346, + -548.3366485506092, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 474.11835151683346, + -545.7385723392558, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 472.61835151683346, + -543.1404961279025, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 471.11835151683346, + -540.5424199165491, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 469.61835151683346, + -537.9443437051957, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 468.11835151683346, + -535.3462674938423, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 466.61835151683346, + -532.748191282489, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 465.11835151683346, + -530.1501150711356, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 463.61835151683346, + -527.5520388597822, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 462.11835151683346, + -524.9539626484288, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 460.61835151683346, + -522.3558864370755, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 459.11835151683346, + -519.7578102257221, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 457.61835151683346, + -517.1597340143687, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 456.11835151683346, + -514.5616578030154, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.61835151683346, + -511.96358159166203, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 453.11835151683346, + -509.3655053803087, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 451.61835151683346, + -506.7674291689554, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 450.11835151683346, + -504.1693529576021, + -4.813108203834318 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 450.11835151683346, + -504.1693529576021, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 447.52027530548014, + -502.6693529576021, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 444.9221990941268, + -501.1693529576021, + -4.813108203834318 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 444.9221990941268, + -501.1693529576021, + -4.813108203834318 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 444.9221990941268, + -501.1693529576021, + -4.813108203834318 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 444.9221990941268, + -501.1693529576021, + -4.813108203834318 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 444.9221990941268, + -501.1693529576021, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 446.4221990941268, + -498.57127674624877, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 447.9221990941268, + -495.97320053489545, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 449.4221990941268, + -493.37512432354214, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 450.9221990941268, + -490.7770481121888, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 452.4221990941268, + -488.1789719008355, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 453.9221990941268, + -485.5808956894822, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 455.4221990941268, + -482.9828194781289, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 456.9221990941268, + -480.38474326677556, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 458.4221990941268, + -477.78666705542224, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 459.9221990941268, + -475.1885908440689, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 461.4221990941268, + -472.5905146327156, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 462.9221990941268, + -469.9924384213623, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 464.4221990941268, + -467.394362210009, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 465.9221990941268, + -464.79628599865566, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 467.4221990941268, + -462.19820978730235, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 468.9221990941268, + -459.60013357594903, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 470.4221990941268, + -457.0020573645957, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 471.9221990941268, + -454.4039811532424, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 473.4221990941268, + -451.8059049418891, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 474.9221990941268, + -449.20782873053577, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 476.4221990941268, + -446.60975251918245, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 477.9221990941268, + -444.01167630782913, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 479.4221990941268, + -441.4136000964758, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 480.9221990941268, + -438.8155238851225, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 482.4221990941268, + -436.2174476737692, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 483.9221990941268, + -433.61937146241587, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 485.4221990941268, + -431.02129525106255, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 486.9221990941268, + -428.42321903970924, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 488.4221990941268, + -425.8251428283559, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 489.9221990941268, + -423.2270666170026, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 491.4221990941268, + -420.6289904056493, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 492.9221990941268, + -418.030914194296, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 494.4221990941268, + -415.43283798294266, + -4.813108203834318 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 494.4221990941268, + -415.43283798294266, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 494.4221990941268, + -412.43283798294266, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 494.4221990941268, + -409.43283798294266, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 494.4221990941268, + -406.43283798294266, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 494.4221990941268, + -403.43283798294266, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 494.4221990941268, + -400.43283798294266, + -4.813108203834318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 494.4221990941268, + -397.43283798294266, + -4.813108203834318 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-1-14_358984857/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-1-14_358984857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38dd31ec3a400dab16dc5acc4297e38a12d7e852 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-1-14_358984857/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 6.114619217063392, + -337.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 8.712695428416708, + -339.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 11.310771639770024, + -340.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 13.90884785112334, + -342.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 16.506924062476656, + -343.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 19.105000273829972, + -345.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 21.70307648518329, + -346.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 24.301152696536604, + -348.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 26.89922890788992, + -349.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 29.497305119243237, + -351.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 32.09538133059655, + -352.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 34.69345754194987, + -354.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 37.291533753303185, + -355.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 39.8896099646565, + -357.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 42.48768617600982, + -358.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 45.08576238736313, + -360.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 47.68383859871645, + -361.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 50.281914810069765, + -363.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 52.87999102142308, + -364.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 55.4780672327764, + -366.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 58.07614344412971, + -367.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 60.67421965548303, + -369.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 63.272295866836345, + -370.7852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 65.87037207818966, + -372.2852199865296, + 0.25065232064043386 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 65.87037207818966, + -372.2852199865296, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 67.37037207818966, + -374.88329619788294, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 68.87037207818966, + -377.48137240923626, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 70.37037207818966, + -380.0794486205896, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 71.87037207818966, + -382.6775248319429, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 73.37037207818966, + -385.2756010432962, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 74.87037207818966, + -387.8736772546495, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 76.37037207818966, + -390.47175346600284, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 77.87037207818966, + -393.06982967735615, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 79.37037207818966, + -395.66790588870947, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 80.87037207818966, + -398.2659821000628, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 82.37037207818966, + -400.8640583114161, + 0.25065232064043386 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 82.37037207818966, + -400.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 84.96844828954298, + -402.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 87.56652450089629, + -403.8640583114161, + 0.25065232064043386 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 87.56652450089629, + -403.8640583114161, + 0.25065232064043386 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 87.56652450089629, + -403.8640583114161, + 0.25065232064043386 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 87.56652450089629, + -403.8640583114161, + 0.25065232064043386 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 87.56652450089629, + -403.8640583114161, + 0.25065232064043386 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 87.56652450089629, + -403.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 84.96844828954298, + -405.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 82.37037207818966, + -406.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 79.77229586683634, + -408.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 77.17421965548303, + -409.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 74.57614344412971, + -411.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 71.9780672327764, + -412.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 69.37999102142308, + -414.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 66.78191481006976, + -415.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 64.18383859871645, + -417.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 61.58576238736313, + -418.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 58.98768617600982, + -420.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 56.3896099646565, + -421.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 53.791533753303185, + -423.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 51.19345754194987, + -424.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 48.59538133059655, + -426.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 45.99730511924324, + -427.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 43.39922890788992, + -429.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 40.801152696536604, + -430.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 38.20307648518329, + -432.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 35.60500027382997, + -433.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 33.006924062476656, + -435.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 30.40884785112334, + -436.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 27.810771639770024, + -438.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 25.21269542841671, + -439.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 22.614619217063392, + -441.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 20.016543005710076, + -442.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 17.41846679435676, + -444.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 14.820390583003444, + -445.8640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 12.222314371650128, + -447.3640583114161, + 0.25065232064043386 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 12.222314371650128, + -447.3640583114161, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 10.722314371650128, + -449.9621345227694, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 9.222314371650128, + -452.56021073412273, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 7.722314371650129, + -455.15828694547605, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 6.22231437165013, + -457.75636315682937, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 4.722314371650131, + -460.3544393681827, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 3.222314371650132, + -462.952515579536, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1.7223143716501326, + -465.5505917908893, + 0.25065232064043386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 0.22231437165013324, + -468.14866800224263, + 0.25065232064043386 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-11-29_1066077375/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-11-29_1066077375/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d48afb5df734152da2570995d179d3e2a9548260 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-11-29_1066077375/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1644.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1641.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1638.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1635.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1632.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1629.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1626.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1623.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1620.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1617.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1614.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1611.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1608.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1605.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1602.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1599.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1596.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1593.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1590.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1587.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1584.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1581.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1578.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1575.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1575.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1575.4632659169588, + -113.2227682553629, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1573.9632659169588, + -110.62469204400958, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1572.4632659169588, + -108.02661583265626, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1570.9632659169588, + -105.42853962130295, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1569.4632659169588, + -102.83046340994963, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1567.9632659169588, + -100.23238719859631, + 0.13667775829281492 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1567.9632659169588, + -100.23238719859631, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1565.3651897056054, + -98.73238719859631, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1562.767113494252, + -97.23238719859631, + 0.13667775829281492 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1562.767113494252, + -97.23238719859631, + 0.13667775829281492 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1562.767113494252, + -97.23238719859631, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1561.267113494252, + -94.634310987243, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1559.767113494252, + -92.03623477588968, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1558.267113494252, + -89.43815856453637, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1556.767113494252, + -86.84008235318305, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1555.267113494252, + -84.24200614182973, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1553.767113494252, + -81.64392993047642, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1552.267113494252, + -79.0458537191231, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1550.767113494252, + -76.44777750776979, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1549.267113494252, + -73.84970129641647, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1547.767113494252, + -71.25162508506315, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1546.267113494252, + -68.65354887370984, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1544.767113494252, + -66.05547266235652, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1543.267113494252, + -63.457396451003206, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1541.767113494252, + -60.85932023964989, + 0.13667775829281492 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1540.267113494252, + -58.261244028296574, + 0.13667775829281492 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-13-39_1959343768/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-13-39_1959343768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1288a658c269ab6f07f61080ef8fd07a8b0f4022 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-13-39_1959343768/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 501.5969120027068, + 381.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 501.5969120027068, + 378.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 501.5969120027068, + 375.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 501.5969120027068, + 372.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 501.5969120027068, + 369.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 501.5969120027068, + 366.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 501.5969120027068, + 363.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 501.5969120027068, + 360.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 501.5969120027068, + 357.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 501.5969120027068, + 354.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 501.5969120027068, + 351.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 501.5969120027068, + 348.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 501.5969120027068, + 345.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 501.5969120027068, + 342.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 501.5969120027068, + 339.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 501.5969120027068, + 336.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 501.5969120027068, + 333.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 501.5969120027068, + 330.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 501.5969120027068, + 327.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 501.5969120027068, + 324.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 501.5969120027068, + 321.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 501.5969120027068, + 318.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 501.5969120027068, + 315.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 501.5969120027068, + 312.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 501.5969120027068, + 309.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 501.5969120027068, + 306.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 501.5969120027068, + 303.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 501.5969120027068, + 300.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 501.5969120027068, + 297.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 501.5969120027068, + 294.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 501.5969120027068, + 291.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 501.5969120027068, + 288.7856369822603, + -3.0893827980404414 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 501.5969120027068, + 288.7856369822603, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 500.0969120027068, + 286.187560770907, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 498.5969120027068, + 283.5894845595537, + -3.0893827980404414 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 498.5969120027068, + 283.5894845595537, + -3.0893827980404414 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 498.5969120027068, + 283.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 495.9988357913535, + 282.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 493.40075958000017, + 280.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 490.80268336864685, + 279.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 488.20460715729354, + 277.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 485.6065309459402, + 276.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 483.0084547345869, + 274.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 480.4103785232336, + 273.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 477.8123023118803, + 271.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 475.21422610052696, + 270.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 472.61614988917364, + 268.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 470.0180736778203, + 267.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 467.419997466467, + 265.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 464.8219212551137, + 264.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 462.2238450437604, + 262.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 459.62576883240706, + 261.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 457.02769262105375, + 259.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 454.42961640970043, + 258.0894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 451.8315401983471, + 256.5894845595537, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 449.2334639869938, + 255.08948455955368, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 446.6353877756405, + 253.58948455955368, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 444.03731156428717, + 252.08948455955368, + -3.0893827980404414 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 444.03731156428717, + 252.08948455955368, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 442.53731156428717, + 249.49140834820037, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 441.03731156428717, + 246.89333213684705, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 439.53731156428717, + 244.29525592549373, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 438.03731156428717, + 241.69717971414042, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 436.53731156428717, + 239.0991035027871, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 435.03731156428717, + 236.5010272914338, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 433.53731156428717, + 233.90295108008047, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 432.03731156428717, + 231.30487486872715, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 430.53731156428717, + 228.70679865737384, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 429.03731156428717, + 226.10872244602052, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 427.53731156428717, + 223.5106462346672, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 426.03731156428717, + 220.9125700233139, + -3.0893827980404414 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 424.53731156428717, + 218.31449381196057, + -3.0893827980404414 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-16-31_1747844822/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-16-31_1747844822/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f0300701511e3688bfacd544186b1b9fba32f2e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-16-31_1747844822/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1217.2406233094207, + -300.19922746255384, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1218.7406233094207, + -297.6011512512005, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1220.2406233094207, + -295.0030750398472, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1221.7406233094207, + -292.4049988284939, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1223.2406233094207, + -289.8069226171406, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1224.7406233094207, + -287.20884640578726, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1226.2406233094207, + -284.61077019443394, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1227.7406233094207, + -282.0126939830806, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1229.2406233094207, + -279.4146177717273, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1230.7406233094207, + -276.816541560374, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1232.2406233094207, + -274.2184653490207, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1233.7406233094207, + -271.62038913766736, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1235.2406233094207, + -269.02231292631404, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1236.7406233094207, + -266.4242367149607, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1238.2406233094207, + -263.8261605036074, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1239.7406233094207, + -261.2280842922541, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1241.2406233094207, + -258.6300080809008, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1242.7406233094207, + -256.03193186954746, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1244.2406233094207, + -253.43385565819415, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1245.7406233094207, + -250.83577944684083, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1247.2406233094207, + -248.23770323548752, + -2.9885540993662554 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1247.2406233094207, + -248.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1249.838699520774, + -246.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1252.4367757321274, + -245.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1255.0348519434808, + -243.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1257.6329281548342, + -242.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1260.2310043661876, + -240.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1262.829080577541, + -239.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1265.4271567888943, + -237.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1268.0252330002477, + -236.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1270.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1270.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1273.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1276.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1279.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1282.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1285.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1288.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1291.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1294.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1297.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1300.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1303.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1306.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1306.623309211601, + -234.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1309.2213854229544, + -233.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1311.8194616343078, + -231.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1314.4175378456612, + -230.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1317.0156140570145, + -228.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1319.613690268368, + -227.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1322.2117664797213, + -225.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1324.8098426910747, + -224.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1327.407918902428, + -222.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1330.0059951137814, + -221.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1332.6040713251348, + -219.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1335.2021475364882, + -218.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1337.8002237478415, + -216.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1340.398299959195, + -215.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1342.9963761705483, + -213.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1345.5944523819016, + -212.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1348.192528593255, + -210.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1350.7906048046084, + -209.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1353.3886810159618, + -207.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1355.9867572273151, + -206.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1358.5848334386685, + -204.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1361.1829096500219, + -203.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1363.7809858613753, + -201.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1366.3790620727286, + -200.23770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1368.977138284082, + -198.73770323548752, + -2.9885540993662554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1371.5752144954354, + -197.23770323548752, + -2.9885540993662554 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-20-22_1421186593/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-20-22_1421186593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c041525cfb2571f893444a97a1203adbc9868307 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-20-22_1421186593/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 51.794256313889846, + -537.86061029191, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 50.294256313889846, + -535.2625340805566, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 48.794256313889846, + -532.6644578692033, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 47.294256313889846, + -530.0663816578499, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.794256313889846, + -527.4683054464965, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 44.294256313889846, + -524.8702292351431, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 42.794256313889846, + -522.2721530237898, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 41.294256313889846, + -519.6740768124364, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 39.794256313889846, + -517.076000601083, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 38.294256313889846, + -514.4779243897297, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 36.794256313889846, + -511.87984817837633, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 35.294256313889846, + -509.281771967023, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 33.794256313889846, + -506.6836957556697, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 32.294256313889846, + -504.0856195443164, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 30.794256313889846, + -501.48754333296307, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 29.294256313889846, + -498.88946712160975, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 27.794256313889846, + -496.29139091025644, + 3.3279055944302343 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 27.794256313889846, + -496.29139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 25.19618010253653, + -494.79139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 22.598103891183214, + -493.29139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 20.0000276798299, + -491.79139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 17.401951468476582, + -490.29139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 14.803875257123266, + -488.79139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 12.20579904576995, + -487.29139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 9.607722834416634, + -485.79139091025644, + 3.3279055944302343 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 9.607722834416634, + -485.79139091025644, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 8.107722834416634, + -483.1933146989031, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 6.607722834416635, + -480.5952384875498, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 5.107722834416636, + -477.9971622761965, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3.607722834416637, + -475.3990860648432, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2.107722834416638, + -472.80100985348986, + 3.3279055944302343 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2.107722834416638, + -472.80100985348986, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -0.49035337693667813, + -471.30100985348986, + 3.3279055944302343 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -0.49035337693667813, + -471.30100985348986, + 3.3279055944302343 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -0.49035337693667813, + -471.30100985348986, + 3.3279055944302343 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948963 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -0.49035337693667813, + -471.30100985348986, + 3.3279055944302343 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -0.49035337693667813, + -471.30100985348986, + 3.3279055944302343 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -0.49035337693667813, + -471.30100985348986, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2.107722834416638, + -469.80100985348986, + 3.3279055944302343 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2.107722834416638, + -469.80100985348986, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3.6077228344166383, + -467.20293364213654, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 5.107722834416639, + -464.6048574307832, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 6.60772283441664, + -462.0067812194299, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 8.10772283441664, + -459.4087050080766, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 9.60772283441664, + -456.8106287967233, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 11.10772283441664, + -454.21255258536996, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 12.60772283441664, + -451.61447637401665, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 14.10772283441664, + -449.01640016266333, + 3.3279055944302343 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 14.10772283441664, + -449.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 16.705799045769957, + -447.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 19.303875257123273, + -446.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 21.90195146847659, + -444.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 24.500027679829905, + -443.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 27.09810389118322, + -441.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 29.696180102536538, + -440.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 32.29425631388985, + -438.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 34.89233252524317, + -437.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 37.490408736596486, + -435.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 40.0884849479498, + -434.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 42.68656115930312, + -432.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 45.284637370656434, + -431.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 47.88271358200975, + -429.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 50.480789793363066, + -428.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 53.07886600471638, + -426.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 55.6769422160697, + -425.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 58.275018427423014, + -423.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 60.87309463877633, + -422.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 63.471170850129646, + -420.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 66.06924706148297, + -419.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982977 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 68.66732327283628, + -417.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 71.2653994841896, + -416.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 73.86347569554292, + -414.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 76.46155190689623, + -413.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 79.05962811824955, + -411.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 81.65770432960286, + -410.01640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 84.25578054095618, + -408.51640016266333, + 3.3279055944302343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 86.8538567523095, + -407.01640016266333, + 3.3279055944302343 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-20-56_1502781486/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-20-56_1502781486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5682f5ebfe9020a13621248c384bbbdaff761251 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-20-56_1502781486/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1336.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1339.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1342.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1345.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1348.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1351.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1354.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1357.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1360.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1363.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1366.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1369.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1372.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1375.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1378.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1381.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1384.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1387.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1390.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1393.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1396.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1399.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1402.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1402.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1402.6753429704918, + -98.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1404.1753429704918, + -95.67635811603438, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1405.6753429704918, + -93.07828190468106, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1407.1753429704918, + -90.48020569332775, + 2.9242301245773827 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1407.1753429704918, + -90.48020569332775, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1409.7734191818452, + -88.98020569332775, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1412.3714953931985, + -87.48020569332775, + 2.9242301245773827 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1412.3714953931985, + -87.48020569332775, + 2.9242301245773827 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1412.3714953931985, + -87.48020569332775, + 2.9242301245773827 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1412.3714953931985, + -87.48020569332775, + 2.9242301245773827 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1412.3714953931985, + -87.48020569332775, + 2.9242301245773827 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1412.3714953931985, + -87.48020569332775, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1410.8714953931985, + -90.07828190468106, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1409.3714953931985, + -92.67635811603438, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1407.8714953931985, + -95.2744343273877, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1406.3714953931985, + -97.87251053874101, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1404.8714953931985, + -100.47058675009433, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1403.3714953931985, + -103.06866296144764, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1401.8714953931985, + -105.66673917280096, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1400.3714953931985, + -108.26481538415428, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1398.8714953931985, + -110.86289159550759, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1397.3714953931985, + -113.46096780686091, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1395.8714953931985, + -116.05904401821422, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1394.3714953931985, + -118.65712022956754, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1392.8714953931985, + -121.25519644092086, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1391.3714953931985, + -123.85327265227417, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1389.8714953931985, + -126.45134886362749, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1388.3714953931985, + -129.0494250749808, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1386.8714953931985, + -131.64750128633412, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1385.3714953931985, + -134.24557749768744, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1383.8714953931985, + -136.84365370904075, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1382.3714953931985, + -139.44172992039407, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1380.8714953931985, + -142.03980613174738, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1379.3714953931985, + -144.6378823431007, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1377.8714953931985, + -147.23595855445402, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1376.3714953931985, + -149.83403476580733, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1374.8714953931985, + -152.43211097716065, + 2.9242301245773827 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1374.8714953931985, + -152.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1374.8714953931985, + -155.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1374.8714953931985, + -158.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1374.8714953931985, + -161.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1374.8714953931985, + -164.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1374.8714953931985, + -167.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1374.8714953931985, + -170.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1374.8714953931985, + -173.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1374.8714953931985, + -176.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1374.8714953931985, + -179.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1374.8714953931985, + -182.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1374.8714953931985, + -185.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1374.8714953931985, + -188.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1374.8714953931985, + -191.43211097716065, + 2.9242301245773827 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1374.8714953931985, + -194.43211097716065, + 2.9242301245773827 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-21-31_703550253/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-21-31_703550253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..887d43472e867b260ea79bef29d9c948e56dff0c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-21-31_703550253/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 253.70264013446484, + -194.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.70264013446484, + -191.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 253.70264013446484, + -188.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 253.70264013446484, + -185.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 253.70264013446484, + -182.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 253.70264013446484, + -179.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 253.70264013446484, + -176.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 253.70264013446484, + -173.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 253.70264013446484, + -170.65465633505485, + -4.266729380974505 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 253.70264013446484, + -170.65465633505485, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 255.20264013446484, + -168.05658012370154, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 256.70264013446484, + -165.45850391234822, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 258.20264013446484, + -162.8604277009949, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 259.70264013446484, + -160.2623514896416, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.20264013446484, + -157.66427527828827, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 262.70264013446484, + -155.06619906693496, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 264.20264013446484, + -152.46812285558164, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 265.70264013446484, + -149.87004664422832, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 267.20264013446484, + -147.271970432875, + -4.266729380974505 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 267.20264013446484, + -147.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 267.20264013446484, + -144.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 267.20264013446484, + -141.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 267.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 267.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 267.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 267.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 267.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 270.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 273.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 276.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 279.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 282.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 285.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 288.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 291.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 291.20264013446484, + -138.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.80071634581816, + -136.771970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.3987925571715, + -135.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 298.9968687685248, + -133.771970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.5949449798781, + -132.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 304.1930211912314, + -130.771970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 306.79109740258474, + -129.271970432875, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 309.38917361393806, + -127.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 311.98724982529137, + -126.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 314.5853260366447, + -124.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 317.183402247998, + -123.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 319.7814784593513, + -121.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 322.37955467070464, + -120.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 324.97763088205795, + -118.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 327.57570709341127, + -117.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 330.1737833047646, + -115.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 332.7718595161179, + -114.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 335.3699357274712, + -112.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 337.96801193882453, + -111.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 340.56608815017785, + -109.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 343.16416436153116, + -108.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 345.7622405728845, + -106.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 348.3603167842378, + -105.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 350.9583929955911, + -103.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 353.5564692069444, + -102.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 356.15454541829774, + -100.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 358.75262162965106, + -99.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 361.3506978410044, + -97.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 363.9487740523577, + -96.27197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 366.546850263711, + -94.77197043287501, + -4.266729380974505 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 366.546850263711, + -94.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 369.546850263711, + -94.77197043287501, + -4.266729380974505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 372.546850263711, + -94.77197043287501, + -4.266729380974505 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-23-52_107734713/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-23-52_107734713/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..129386248e5d3526fd314e061a69ecebbddb7054 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-23-52_107734713/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1542.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1539.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1536.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1533.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1530.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1527.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1524.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1521.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1518.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1515.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1512.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1509.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1506.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1503.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1500.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1497.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1494.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1491.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1488.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1488.6167228041877, + -214.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1486.0186465928343, + -213.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1483.420570381481, + -211.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1480.8224941701276, + -210.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1478.2244179587742, + -208.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1475.6263417474208, + -207.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1473.0282655360675, + -205.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1470.430189324714, + -204.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1467.8321131133607, + -202.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1465.2340369020073, + -201.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1462.635960690654, + -199.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1460.0378844793006, + -198.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1457.4398082679472, + -196.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1454.8417320565939, + -195.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1452.2436558452405, + -193.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1449.645579633887, + -192.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1447.0475034225337, + -190.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1444.4494272111804, + -189.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1441.851350999827, + -187.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1439.2532747884736, + -186.07088307328254, + -2.128710888506264 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1439.2532747884736, + -186.07088307328254, + -2.128710888506264 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1439.2532747884736, + -186.07088307328254, + -2.128710888506264 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1439.2532747884736, + -186.07088307328254, + -2.128710888506264 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1439.2532747884736, + -186.07088307328254, + -2.128710888506264 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1439.2532747884736, + -186.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1441.851350999827, + -184.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1444.4494272111804, + -183.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1447.0475034225337, + -181.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1449.645579633887, + -180.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1452.2436558452405, + -178.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1454.8417320565939, + -177.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1457.4398082679472, + -175.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1460.0378844793006, + -174.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1462.635960690654, + -172.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1465.2340369020073, + -171.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1467.8321131133607, + -169.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1470.430189324714, + -168.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1473.0282655360675, + -166.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1475.6263417474208, + -165.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1478.2244179587742, + -163.57088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1480.8224941701276, + -162.07088307328254, + -2.128710888506264 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1480.8224941701276, + -162.07088307328254, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1482.3224941701276, + -159.47280686192923, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1483.8224941701276, + -156.8747306505759, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1485.3224941701276, + -154.2766544392226, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1486.8224941701276, + -151.67857822786928, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1488.3224941701276, + -149.08050201651596, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1489.8224941701276, + -146.48242580516265, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1491.3224941701276, + -143.88434959380933, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1492.8224941701276, + -141.28627338245602, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1494.3224941701276, + -138.6881971711027, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1495.8224941701276, + -136.09012095974938, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1497.3224941701276, + -133.49204474839607, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1498.8224941701276, + -130.89396853704275, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1500.3224941701276, + -128.29589232568944, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1501.8224941701276, + -125.69781611433612, + -2.128710888506264 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1503.3224941701276, + -123.0997399029828, + -2.128710888506264 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-24-27_1646478179/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-24-27_1646478179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e9f5fd90c888b7386aaabccd28b6495e813503d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-24-27_1646478179/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 981.4866605137664, + -427.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 978.8885843024132, + -425.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 976.2905080910598, + -424.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 973.6924318797064, + -422.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 971.094355668353, + -421.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 968.4962794569997, + -419.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 965.8982032456463, + -418.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 963.3001270342929, + -416.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 960.7020508229396, + -415.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 958.1039746115862, + -413.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 955.5058984002328, + -412.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 952.9078221888794, + -410.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 950.3097459775261, + -409.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 947.7116697661727, + -407.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 945.1135935548193, + -406.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 942.515517343466, + -404.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 939.9174411321126, + -403.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 937.3193649207592, + -401.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 934.7212887094058, + -400.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 932.1232124980525, + -398.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 929.5251362866991, + -397.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 926.9270600753457, + -395.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 924.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 924.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 921.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 918.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 915.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 912.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 909.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 906.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 903.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 900.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 897.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 894.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 894.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 894.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 894.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 894.3289838639923, + -394.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 894.3289838639923, + -391.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 894.3289838639923, + -388.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 894.3289838639923, + -385.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 894.3289838639923, + -382.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 894.3289838639923, + -379.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 894.3289838639923, + -376.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 894.3289838639923, + -373.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 894.3289838639923, + -370.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 894.3289838639923, + -367.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 894.3289838639923, + -364.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 894.3289838639923, + -361.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 894.3289838639923, + -358.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 894.3289838639923, + -355.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 894.3289838639923, + -352.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 894.3289838639923, + -349.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 894.3289838639923, + -346.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 894.3289838639923, + -343.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 894.3289838639923, + -340.0591373477126, + 1.4899035192408725 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 894.3289838639923, + -340.0591373477126, + 1.4899035192408725 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 894.3289838639923, + -340.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 891.730907652639, + -338.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 889.1328314412856, + -337.0591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 886.5347552299322, + -335.5591373477126, + 1.4899035192408725 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 886.5347552299322, + -335.5591373477126, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 885.0347552299322, + -332.96106113635926, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 883.5347552299322, + -330.36298492500595, + 1.4899035192408725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 882.0347552299322, + -327.76490871365263, + 1.4899035192408725 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-25-57_1464415775/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-25-57_1464415775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4a4b0aab8163b7f6591d603bb979b18a48020ff --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-25-57_1464415775/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -201.3184646751951, + 133.4975442734482, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -202.8184646751951, + 130.89946806209488, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -204.3184646751951, + 128.30139185074157, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -205.8184646751951, + 125.70331563938825, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -207.3184646751951, + 123.10523942803493, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -208.8184646751951, + 120.50716321668162, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -210.3184646751951, + 117.9090870053283, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -211.8184646751951, + 115.31101079397499, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -213.3184646751951, + 112.71293458262167, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -214.8184646751951, + 110.11485837126835, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -216.3184646751951, + 107.51678215991504, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -217.8184646751951, + 104.91870594856172, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -219.3184646751951, + 102.3206297372084, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -220.8184646751951, + 99.72255352585509, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -222.3184646751951, + 97.12447731450177, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -223.8184646751951, + 94.52640110314846, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -225.3184646751951, + 91.92832489179514, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -226.8184646751951, + 89.33024868044183, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -228.3184646751951, + 86.73217246908851, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -229.8184646751951, + 84.1340962577352, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -231.3184646751951, + 81.53602004638188, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -232.8184646751951, + 78.93794383502856, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -234.3184646751951, + 76.33986762367525, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -235.8184646751951, + 73.74179141232193, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -237.3184646751951, + 71.14371520096861, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -238.8184646751951, + 68.5456389896153, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -240.3184646751951, + 65.94756277826198, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -241.8184646751951, + 63.349486566908666, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -243.3184646751951, + 60.75141035555535, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -244.8184646751951, + 58.153334144202034, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -246.3184646751951, + 55.55525793284872, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -247.8184646751951, + 52.9571817214954, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -249.3184646751951, + 50.359105510142086, + -2.44484710763913 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -249.3184646751951, + 50.359105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -251.9165408865484, + 48.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -254.51461709790172, + 47.359105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -257.11269330925506, + 45.859105510142086, + -2.44484710763913 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -257.11269330925506, + 45.859105510142086, + -2.44484710763913 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -257.11269330925506, + 45.859105510142086, + -2.44484710763913 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -257.11269330925506, + 45.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -257.11269330925506, + 42.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -257.11269330925506, + 39.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -257.11269330925506, + 36.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -257.11269330925506, + 33.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -257.11269330925506, + 30.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -257.11269330925506, + 27.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -257.11269330925506, + 24.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -257.11269330925506, + 21.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -257.11269330925506, + 18.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -257.11269330925506, + 15.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -257.11269330925506, + 12.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -257.11269330925506, + 9.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -257.11269330925506, + 6.859105510142086, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -257.11269330925506, + 3.8591055101420864, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -257.11269330925506, + 0.8591055101420864, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -257.11269330925506, + -2.1408944898579136, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -257.11269330925506, + -5.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -257.11269330925506, + -8.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -257.11269330925506, + -11.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -257.11269330925506, + -14.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -257.11269330925506, + -17.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -257.11269330925506, + -20.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -257.11269330925506, + -23.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -257.11269330925506, + -26.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -257.11269330925506, + -29.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -257.11269330925506, + -32.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -257.11269330925506, + -35.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -257.11269330925506, + -38.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -257.11269330925506, + -41.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -257.11269330925506, + -44.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -257.11269330925506, + -47.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -257.11269330925506, + -50.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -257.11269330925506, + -53.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -257.11269330925506, + -56.140894489857914, + -2.44484710763913 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -257.11269330925506, + -56.140894489857914, + -2.44484710763913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -255.61269330925506, + -58.73897070121123, + -2.44484710763913 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-26-34_1941727088/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-26-34_1941727088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65389e7050e65c0056bd9b9b861dfcb1965bfd3f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-26-34_1941727088/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -25.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -22.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -19.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -16.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -13.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -10.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -7.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.516661397181892, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1.5166613971818919, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1.4833386028181081, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4.483338602818108, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 7.483338602818108, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 10.483338602818108, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 13.483338602818108, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 16.483338602818108, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.483338602818108, + -723.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 19.081414814171424, + -722.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 21.67949102552474, + -720.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 24.277567236878056, + -719.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 26.875643448231372, + -717.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 29.473719659584688, + -716.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 32.071795870938004, + -714.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 34.66987208229132, + -713.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 37.267948293644636, + -711.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 39.86602450499795, + -710.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 42.46410071635127, + -708.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 45.062176927704584, + -707.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.6602531390579, + -705.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 50.258329350411216, + -704.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 52.85640556176453, + -702.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 55.45448177311785, + -701.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 58.052557984471164, + -699.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 60.65063419582448, + -698.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 63.248710407177796, + -696.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 65.84678661853111, + -695.2001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 68.44486282988443, + -693.7001621894588, + 0.5136176347251844 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 68.44486282988443, + -693.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 71.44486282988443, + -693.7001621894588, + 0.5136176347251844 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 71.44486282988443, + -693.7001621894588, + 0.5136176347251844 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 71.44486282988443, + -693.7001621894588, + 0.5136176347251844 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 71.44486282988443, + -693.7001621894588, + 0.5136176347251844 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 71.44486282988443, + -693.7001621894588, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 69.94486282988443, + -691.1020859781054, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 68.44486282988443, + -688.504009766752, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 66.94486282988443, + -685.9059335553986, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 65.44486282988443, + -683.3078573440453, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 63.94486282988443, + -680.7097811326919, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 62.44486282988443, + -678.1117049213385, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 60.94486282988443, + -675.5136287099851, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 59.44486282988443, + -672.9155524986318, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 57.94486282988443, + -670.3174762872784, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 56.44486282988443, + -667.719400075925, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 54.94486282988443, + -665.1213238645717, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 53.44486282988443, + -662.5232476532183, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 51.94486282988443, + -659.9251714418649, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 50.44486282988443, + -657.3270952305115, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 48.94486282988443, + -654.7290190191582, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 47.44486282988443, + -652.1309428078048, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 45.94486282988443, + -649.5328665964514, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 44.44486282988443, + -646.934790385098, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 42.94486282988443, + -644.3367141737447, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 41.44486282988443, + -641.7386379623913, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 39.94486282988443, + -639.1405617510379, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 38.44486282988443, + -636.5424855396845, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 36.94486282988443, + -633.9444093283312, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 35.44486282988443, + -631.3463331169778, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 33.94486282988443, + -628.7482569056244, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 32.44486282988443, + -626.1501806942711, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 30.94486282988443, + -623.5521044829177, + 0.5136176347251844 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 30.94486282988443, + -623.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 30.94486282988443, + -620.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 30.94486282988443, + -617.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 30.94486282988443, + -614.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 30.94486282988443, + -611.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 30.94486282988443, + -608.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 30.94486282988443, + -605.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 30.94486282988443, + -602.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 30.94486282988443, + -599.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 30.94486282988443, + -596.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 30.94486282988443, + -593.5521044829177, + 0.5136176347251844 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 30.94486282988443, + -590.5521044829177, + 0.5136176347251844 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-27-11_672032919/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-27-11_672032919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aee4e8a63f83e2809b70d4e5148289aa0a43ac66 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-27-11_672032919/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 209.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 212.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 215.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 218.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 221.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 224.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 227.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 230.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 233.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 236.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 239.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 242.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 245.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 248.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 251.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 254.98554897998443, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 257.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 260.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 263.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 266.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 269.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 272.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 272.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 272.9855489799844, + -105.77375906015874, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 274.4855489799844, + -108.37183527151205, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 275.9855489799844, + -110.96991148286537, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 277.4855489799844, + -113.56798769421869, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 278.9855489799844, + -116.166063905572, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 280.4855489799844, + -118.76414011692532, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 281.9855489799844, + -121.36221632827863, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 283.4855489799844, + -123.96029253963195, + 2.33750723972915 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 283.4855489799844, + -123.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 286.0836251913377, + -125.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 288.68170140269103, + -126.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 291.27977761404435, + -128.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 293.87785382539766, + -129.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 296.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 296.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 299.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 302.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 305.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 308.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 308.475930036751, + -131.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 311.0740062481043, + -129.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 313.6720824594576, + -128.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 316.27015867081093, + -126.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 318.86823488216424, + -125.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 321.46631109351756, + -123.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 324.0643873048709, + -122.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 326.6624635162242, + -120.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 329.2605397275775, + -119.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 331.8586159389308, + -117.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 334.45669215028414, + -116.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 337.05476836163746, + -114.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 339.6528445729908, + -113.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 342.2509207843441, + -111.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 344.8489969956974, + -110.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 347.4470732070507, + -108.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 350.04514941840404, + -107.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 352.64322562975735, + -105.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 355.24130184111067, + -104.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 357.839378052464, + -102.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 360.4374542638173, + -101.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 363.0355304751706, + -99.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 365.63360668652393, + -98.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 368.23168289787725, + -96.96029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 370.82975910923057, + -95.46029253963195, + 2.33750723972915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 373.4278353205839, + -93.96029253963195, + 2.33750723972915 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-30-38_114760235/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-30-38_114760235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..952bd7620126ad7a361bedbcd7649ee41a2c40e4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-30-38_114760235/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -312.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -309.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -306.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -303.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -300.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -297.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -294.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -288.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -285.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -282.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -279.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -276.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -273.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -270.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -267.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -264.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -264.8846613136013, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -262.286585102248, + -404.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -259.6885088908947, + -405.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -257.0904326795414, + -407.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -254.49235646818806, + -408.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -251.89428025683475, + -410.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -249.29620404548143, + -411.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -246.69812783412812, + -413.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -244.1000516227748, + -414.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -241.50197541142148, + -416.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -238.90389920006817, + -417.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -236.30582298871485, + -419.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -233.70774677736154, + -420.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -231.10967056600822, + -422.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -228.5115943546549, + -423.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -225.9135181433016, + -425.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -223.31544193194827, + -426.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -220.71736572059496, + -428.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -218.11928950924164, + -429.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -215.52121329788832, + -431.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -212.923137086535, + -432.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -210.3250608751817, + -434.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -207.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -207.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -207.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -204.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -201.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -198.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -195.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -195.72698466382838, + -435.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -193.12890845247506, + -434.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -190.53083224112174, + -432.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -187.93275602976843, + -431.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -185.3346798184151, + -429.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -182.7366036070618, + -428.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -180.13852739570848, + -426.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -177.54045118435516, + -425.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -174.94237497300185, + -423.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -172.34429876164853, + -422.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -169.74622255029522, + -420.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -167.1481463389419, + -419.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -164.55007012758858, + -417.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -161.95199391623527, + -416.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -159.35391770488195, + -414.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -156.75584149352864, + -413.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -154.15776528217532, + -411.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -151.559689070822, + -410.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -148.9616128594687, + -408.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -146.36353664811537, + -407.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -143.76546043676205, + -405.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -141.16738422540874, + -404.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -138.56930801405542, + -402.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -135.9712318027021, + -401.00156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -133.3731555913488, + -399.50156904766317, + -1.7027331520557314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -130.77507937999547, + -398.00156904766317, + -1.7027331520557314 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-31-12_217871137/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-31-12_217871137/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e369491a1cd9c76b5235470c7564282c9f56bef --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-31-12_217871137/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -15.925497074137702, + -536.427233533354, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -17.425497074137702, + -539.0253097447073, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -18.925497074137702, + -541.6233859560607, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -20.425497074137702, + -544.2214621674141, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -21.925497074137702, + -546.8195383787674, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -23.425497074137702, + -549.4176145901208, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -24.925497074137702, + -552.0156908014742, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -26.425497074137702, + -554.6137670128276, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -27.925497074137702, + -557.2118432241809, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -29.425497074137702, + -559.8099194355343, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -30.925497074137702, + -562.4079956468877, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -32.4254970741377, + -565.0060718582411, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -33.9254970741377, + -567.6041480695944, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -35.4254970741377, + -570.2022242809478, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -36.9254970741377, + -572.8003004923012, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -38.4254970741377, + -575.3983767036545, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -39.9254970741377, + -577.9964529150079, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -41.4254970741377, + -580.5945291263613, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -42.9254970741377, + -583.1926053377147, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -44.4254970741377, + -585.790681549068, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -45.9254970741377, + -588.3887577604214, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -47.4254970741377, + -590.9868339717748, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -48.9254970741377, + -593.5849101831282, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -50.4254970741377, + -596.1829863944815, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -51.9254970741377, + -598.7810626058349, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -53.4254970741377, + -601.3791388171883, + -3.798713004227787 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -53.4254970741377, + -601.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -53.4254970741377, + -604.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -53.4254970741377, + -607.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -53.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -53.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -53.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -53.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -53.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -50.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -47.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -44.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -41.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -38.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -35.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -32.4254970741377, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -29.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -26.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -23.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -20.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -17.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -14.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -11.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -8.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -5.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2.425497074137702, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 0.5745029258622978, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3.574502925862298, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 6.574502925862298, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 9.574502925862298, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 12.574502925862298, + -610.3791388171883, + -3.798713004227787 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 12.574502925862298, + -610.3791388171883, + -3.798713004227787 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 12.574502925862298, + -610.3791388171883, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 14.074502925862298, + -607.7810626058349, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 15.574502925862298, + -605.1829863944815, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 17.074502925862298, + -602.5849101831282, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 18.574502925862298, + -599.9868339717748, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 20.074502925862298, + -597.3887577604214, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 21.574502925862298, + -594.790681549068, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 23.074502925862298, + -592.1926053377147, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 24.574502925862298, + -589.5945291263613, + -3.798713004227787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 26.074502925862298, + -586.9964529150079, + -3.798713004227787 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-32-49_292423943/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-32-49_292423943/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..860e4a0d8a78eebb1961790fc0dd9ea31bc2c5b0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-32-49_292423943/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -66.13899877591909, + -594.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -68.73707498727241, + -596.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -71.33515119862572, + -597.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -73.93322740997904, + -599.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -76.53130362133236, + -600.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -79.12937983268567, + -602.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.72745604403899, + -603.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -84.3255322553923, + -605.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -86.92360846674562, + -606.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -89.52168467809894, + -608.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -92.11976088945225, + -609.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -94.71783710080557, + -611.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -97.31591331215888, + -612.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -99.9139895235122, + -614.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -102.51206573486552, + -615.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -105.11014194621883, + -617.3349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -107.70821815757215, + -618.8349004792183, + 3.8739224911159607 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -107.70821815757215, + -618.8349004792183, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -109.20821815757215, + -621.4329766905716, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -110.70821815757215, + -624.031052901925, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -112.20821815757215, + -626.6291291132784, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -113.70821815757215, + -629.2272053246318, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -115.20821815757215, + -631.8252815359851, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -116.70821815757215, + -634.4233577473385, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -118.20821815757215, + -637.0214339586919, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -119.70821815757215, + -639.6195101700453, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -121.20821815757215, + -642.2175863813986, + 3.8739224911159607 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -121.20821815757215, + -642.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -123.80629436892546, + -643.7175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -126.40437058027878, + -645.2175863813986, + 3.8739224911159607 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -126.40437058027878, + -645.2175863813986, + 3.8739224911159607 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -126.40437058027878, + -645.2175863813986, + 3.8739224911159607 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -126.40437058027878, + -645.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -126.40437058027878, + -648.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -126.40437058027878, + -651.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -126.40437058027878, + -654.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -126.40437058027878, + -657.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -126.40437058027878, + -660.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -126.40437058027878, + -663.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -126.40437058027878, + -666.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -126.40437058027878, + -669.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -126.40437058027878, + -672.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -126.40437058027878, + -675.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -126.40437058027878, + -678.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -126.40437058027878, + -681.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -126.40437058027878, + -684.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -126.40437058027878, + -687.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -126.40437058027878, + -690.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -126.40437058027878, + -693.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -126.40437058027878, + -696.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -126.40437058027878, + -699.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -126.40437058027878, + -702.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -126.40437058027878, + -705.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -126.40437058027878, + -708.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -126.40437058027878, + -711.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -126.40437058027878, + -714.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -126.40437058027878, + -717.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -126.40437058027878, + -720.2175863813986, + 3.8739224911159607 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -126.40437058027878, + -720.2175863813986, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -127.90437058027878, + -722.815662592752, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -129.40437058027877, + -725.4137388041054, + 3.8739224911159607 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393182 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -130.90437058027877, + -728.0118150154588, + 3.8739224911159607 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393182 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-33-18_1265122573/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-33-18_1265122573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99b9856b3c51a27cee8dffcd2060844467663ca4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-33-18_1265122573/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1027.5488807627198, + -134.0685051062374, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1029.0488807627198, + -136.66658131759073, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1030.5488807627198, + -139.26465752894404, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1032.0488807627198, + -141.86273374029736, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1033.5488807627198, + -144.46080995165067, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1035.0488807627198, + -147.058886163004, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1036.5488807627198, + -149.6569623743573, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1038.0488807627198, + -152.25503858571062, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1039.5488807627198, + -154.85311479706394, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1041.0488807627198, + -157.45119100841725, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1042.5488807627198, + -160.04926721977057, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1044.0488807627198, + -162.6473434311239, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1045.5488807627198, + -165.2454196424772, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1047.0488807627198, + -167.84349585383052, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1048.5488807627198, + -170.44157206518383, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1050.0488807627198, + -173.03964827653715, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1051.5488807627198, + -175.63772448789047, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1053.0488807627198, + -178.23580069924378, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1054.5488807627198, + -180.8338769105971, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1056.0488807627198, + -183.43195312195041, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1057.5488807627198, + -186.03002933330373, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1059.0488807627198, + -188.62810554465705, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1060.5488807627198, + -191.22618175601036, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1062.0488807627198, + -193.82425796736368, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1063.5488807627198, + -196.422334178717, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1065.0488807627198, + -199.0204103900703, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1066.5488807627198, + -201.61848660142363, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1068.0488807627198, + -204.21656281277694, + 2.850797727632129 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1068.0488807627198, + -204.21656281277694, + 2.850797727632129 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1068.0488807627198, + -204.21656281277694, + 2.850797727632129 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1068.0488807627198, + -204.21656281277694, + 2.850797727632129 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1068.0488807627198, + -204.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1065.4508045513664, + -205.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1062.852728340013, + -207.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1060.2546521286597, + -208.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1057.6565759173063, + -210.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1055.058499705953, + -211.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1052.4604234945996, + -213.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1049.8623472832462, + -214.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1047.2642710718928, + -216.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1044.6661948605395, + -217.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1042.068118649186, + -219.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1039.4700424378327, + -220.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1036.8719662264793, + -222.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1034.273890015126, + -223.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1031.6758138037726, + -225.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1029.0777375924192, + -226.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1026.4796613810659, + -228.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1023.8815851697125, + -229.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1021.2835089583591, + -231.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1018.6854327470057, + -232.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1016.0873565356524, + -234.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1013.489280324299, + -235.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1010.8912041129456, + -237.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1008.2931279015922, + -238.71656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1005.6950516902389, + -240.21656281277694, + 2.850797727632129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1003.0969754788855, + -241.71656281277694, + 2.850797727632129 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-34-18_1910300925/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-34-18_1910300925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52ecb1abe27c2e7b2e03a87a5a01434002584866 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-34-18_1910300925/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 976.0326361730656, + -333.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 973.4345599617122, + -332.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 970.8364837503589, + -330.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 968.2384075390055, + -329.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 965.6403313276521, + -327.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 963.0422551162987, + -326.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 960.4441789049454, + -324.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 957.846102693592, + -323.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 955.2480264822386, + -321.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 952.6499502708853, + -320.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 950.0518740595319, + -318.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 947.4537978481785, + -317.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 944.8557216368251, + -315.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 942.2576454254718, + -314.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 939.6595692141184, + -312.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 937.061493002765, + -311.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 934.4634167914116, + -309.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 931.8653405800583, + -308.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 929.2672643687049, + -306.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 926.6691881573515, + -305.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 924.0711119459982, + -303.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 921.4730357346448, + -302.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 918.8749595232914, + -300.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 916.276883311938, + -299.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 913.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 913.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 910.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "turn right", + "value": 30, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 910.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 910.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 910.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 910.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 910.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 910.6788071005847, + -297.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 913.276883311938, + -296.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 915.8749595232914, + -294.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 918.4730357346448, + -293.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 921.0711119459982, + -291.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 923.6691881573515, + -290.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 926.2672643687049, + -288.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 928.8653405800583, + -287.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 931.4634167914116, + -285.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 934.061493002765, + -284.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 936.6595692141184, + -282.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 939.2576454254718, + -281.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 941.8557216368251, + -279.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 944.4537978481785, + -278.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 947.0518740595319, + -276.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 949.6499502708853, + -275.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 952.2480264822386, + -273.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 954.846102693592, + -272.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 957.4441789049454, + -270.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 960.0422551162987, + -269.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 962.6403313276521, + -267.93565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 965.2384075390055, + -266.43565350788305, + 2.182249443530524 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 967.8364837503589, + -264.93565350788305, + 2.182249443530524 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-35-26_120306710/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-35-26_120306710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1d2fabf6ed347ca44448a9897fa2b520ebf29c9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-35-26_120306710/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 28.74610127121516, + -578.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 26.148025059861844, + -579.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 23.549948848508528, + -581.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 20.951872637155212, + -582.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 18.353796425801896, + -584.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 15.75572021444858, + -585.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 13.157644003095264, + -587.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 10.559567791741948, + -588.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 7.961491580388632, + -590.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 5.363415369035316, + -591.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2.765339157682, + -593.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 0.16726294632868388, + -594.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2.430813265024632, + -596.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -5.028889476377948, + -597.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -7.626965687731264, + -599.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -10.22504189908458, + -600.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -12.823118110437896, + -602.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -15.421194321791212, + -603.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -18.019270533144528, + -605.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -20.617346744497844, + -606.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -23.21542295585116, + -608.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -25.813499167204476, + -609.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -28.411575378557792, + -611.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -31.00965158991111, + -612.6344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -33.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -33.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -36.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -39.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -42.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -45.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -48.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -51.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -51.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -51.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -51.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -51.607727801264424, + -614.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -51.607727801264424, + -617.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -51.607727801264424, + -620.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -51.607727801264424, + -623.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -51.607727801264424, + -626.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -51.607727801264424, + -629.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -51.607727801264424, + -632.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -51.607727801264424, + -635.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -51.607727801264424, + -638.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -51.607727801264424, + -641.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -51.607727801264424, + -644.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -51.607727801264424, + -647.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -51.607727801264424, + -650.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -51.607727801264424, + -653.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -51.607727801264424, + -656.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -51.607727801264424, + -659.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -51.607727801264424, + -662.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -51.607727801264424, + -665.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -51.607727801264424, + -668.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -51.607727801264424, + -671.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -51.607727801264424, + -674.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -51.607727801264424, + -677.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -51.607727801264424, + -680.1344901256331, + -1.6194389528096362 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -51.607727801264424, + -680.1344901256331, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -50.107727801264424, + -682.7325663369863, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -48.607727801264424, + -685.3306425483397, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -47.107727801264424, + -687.9287187596931, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -45.607727801264424, + -690.5267949710465, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -44.107727801264424, + -693.1248711823998, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -42.607727801264424, + -695.7229473937532, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -41.107727801264424, + -698.3210236051066, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -39.607727801264424, + -700.91909981646, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -38.107727801264424, + -703.5171760278133, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -36.607727801264424, + -706.1152522391667, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -35.107727801264424, + -708.7133284505201, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -33.607727801264424, + -711.3114046618734, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -32.107727801264424, + -713.9094808732268, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -30.607727801264424, + -716.5075570845802, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -29.107727801264424, + -719.1056332959336, + -1.6194389528096362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -27.607727801264424, + -721.7037095072869, + -1.6194389528096362 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-36-37_1007277217/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-36-37_1007277217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39f9d474241bbb223a7c9bc8445006340c4310eb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-36-37_1007277217/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 984.8137218509214, + -371.8985255444196, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 983.3137218509214, + -369.3004493330663, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 981.8137218509214, + -366.702373121713, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 980.3137218509214, + -364.10429691035966, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 978.8137218509214, + -361.50622069900635, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 977.3137218509214, + -358.90814448765303, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 975.8137218509214, + -356.3100682762997, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 974.3137218509214, + -353.7119920649464, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 972.8137218509214, + -351.1139158535931, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 971.3137218509214, + -348.51583964223977, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 969.8137218509214, + -345.91776343088645, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 968.3137218509214, + -343.31968721953314, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 966.8137218509214, + -340.7216110081798, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 965.3137218509214, + -338.1235347968265, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 963.8137218509214, + -335.5254585854732, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 962.3137218509214, + -332.9273823741199, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 960.8137218509214, + -330.32930616276656, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 959.3137218509214, + -327.73122995141324, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 957.8137218509214, + -325.1331537400599, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 956.3137218509214, + -322.5350775287066, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 954.8137218509214, + -319.9370013173533, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 953.3137218509214, + -317.338925106, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 951.8137218509214, + -314.74084889464666, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 950.3137218509214, + -312.14277268329334, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 948.8137218509214, + -309.54469647194003, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 947.3137218509214, + -306.9466202605867, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 945.8137218509214, + -304.3485440492334, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 944.3137218509214, + -301.7504678378801, + 2.635084907133832 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 944.3137218509214, + -301.7504678378801, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 941.715645639568, + -300.2504678378801, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 939.1175694282147, + -298.7504678378801, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 936.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 936.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 936.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 936.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 936.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 936.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 936.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 939.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 939.5194932168613, + -297.2504678378801, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 942.1175694282147, + -295.7504678378801, + 2.635084907133832 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 942.1175694282147, + -295.7504678378801, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 943.6175694282147, + -293.15239162652676, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 945.1175694282147, + -290.55431541517345, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 946.6175694282147, + -287.95623920382013, + 2.635084907133832 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 946.6175694282147, + -287.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 949.215645639568, + -286.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 951.8137218509214, + -284.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 954.4117980622748, + -283.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 957.0098742736282, + -281.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 959.6079504849815, + -280.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 962.2060266963349, + -278.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 964.8041029076883, + -277.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 967.4021791190416, + -275.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 970.000255330395, + -274.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 972.5983315417484, + -272.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 975.1964077531018, + -271.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 977.7944839644551, + -269.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 980.3925601758085, + -268.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 982.9906363871619, + -266.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 985.5887125985153, + -265.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 988.1867888098686, + -263.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 990.784865021222, + -262.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 993.3829412325754, + -260.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 995.9810174439287, + -259.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 998.5790936552821, + -257.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1001.1771698666355, + -256.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1003.7752460779889, + -254.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1006.3733222893422, + -253.45623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1008.9713985006956, + -251.95623920382013, + 2.635084907133832 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1011.569474712049, + -250.45623920382013, + 2.635084907133832 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-36-4_1986894018/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-36-4_1986894018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d377dfa9e554c4bfdbd0c5a951bd92b3b317098 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-36-4_1986894018/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 737.4015476495337, + -113.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 734.8034714381804, + -112.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 732.205395226827, + -110.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 729.6073190154736, + -109.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 727.0092428041203, + -107.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 724.4111665927669, + -106.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 721.8130903814135, + -104.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 719.2150141700602, + -103.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 716.6169379587068, + -101.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 714.0188617473534, + -100.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 711.420785536, + -98.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 708.8227093246467, + -97.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 706.2246331132933, + -95.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 703.6265569019399, + -94.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 701.0284806905865, + -92.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 698.4304044792332, + -91.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 695.8323282678798, + -89.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 693.2342520565264, + -88.16755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 690.636175845173, + -86.66755437849149, + -4.584554789160202 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 690.636175845173, + -86.66755437849149, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 689.136175845173, + -84.06947816713817, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 687.636175845173, + -81.47140195578486, + -4.584554789160202 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 687.636175845173, + -81.47140195578486, + -4.584554789160202 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 687.636175845173, + -81.47140195578486, + -4.584554789160202 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 687.636175845173, + -81.47140195578486, + -4.584554789160202 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 687.636175845173, + -81.47140195578486, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 690.2342520565264, + -79.97140195578486, + -4.584554789160202 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 690.2342520565264, + -79.97140195578486, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 691.7342520565264, + -77.37332574443154, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 693.2342520565264, + -74.77524953307822, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 694.7342520565264, + -72.17717332172491, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 696.2342520565264, + -69.57909711037159, + -4.584554789160202 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 696.2342520565264, + -69.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 698.8323282678798, + -68.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 701.4304044792332, + -66.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 704.0284806905865, + -65.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 706.6265569019399, + -63.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 709.2246331132933, + -62.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 711.8227093246467, + -60.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 714.420785536, + -59.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 717.0188617473534, + -57.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 719.6169379587068, + -56.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 722.2150141700602, + -54.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 724.8130903814135, + -53.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 727.4111665927669, + -51.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 730.0092428041203, + -50.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 732.6073190154736, + -48.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 735.205395226827, + -47.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 737.8034714381804, + -45.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 740.4015476495338, + -44.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 742.9996238608871, + -42.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 745.5977000722405, + -41.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 748.1957762835939, + -39.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 750.7938524949473, + -38.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 753.3919287063006, + -36.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 755.990004917654, + -35.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 758.5880811290074, + -33.57909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 761.1861573403608, + -32.07909711037159, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 763.7842335517141, + -30.579097110371592, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 766.3823097630675, + -29.079097110371592, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 768.9803859744209, + -27.579097110371592, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 771.5784621857742, + -26.079097110371592, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 774.1765383971276, + -24.579097110371592, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 776.774614608481, + -23.079097110371592, + -4.584554789160202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 779.3726908198344, + -21.579097110371592, + -4.584554789160202 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-37-13_551836836/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-37-13_551836836/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e4a15379d0c7ff62be137ed763dea037da322d5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-37-13_551836836/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.66156919604816, + -346.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 399.66156919604816, + -343.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.66156919604816, + -340.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 399.66156919604816, + -337.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 399.66156919604816, + -334.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 399.66156919604816, + -331.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 399.66156919604816, + -328.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 399.66156919604816, + -325.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 399.66156919604816, + -322.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 399.66156919604816, + -319.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 399.66156919604816, + -316.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 399.66156919604816, + -313.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 399.66156919604816, + -310.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 399.66156919604816, + -307.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 399.66156919604816, + -304.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 399.66156919604816, + -301.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 399.66156919604816, + -298.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 399.66156919604816, + -295.2077701710542, + -0.5803555158876996 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 399.66156919604816, + -295.2077701710542, + -0.5803555158876996 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 399.66156919604816, + -295.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 402.2596454074015, + -293.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 404.8577216187548, + -292.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 407.4557978301081, + -290.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 410.0538740414614, + -289.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 412.65195025281474, + -287.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 415.25002646416806, + -286.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 417.8481026755214, + -284.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 420.4461788868747, + -283.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 423.044255098228, + -281.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 425.6423313095813, + -280.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 428.24040752093464, + -278.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 430.83848373228795, + -277.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 433.43655994364127, + -275.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 436.0346361549946, + -274.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 438.6327123663479, + -272.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 441.2307885777012, + -271.2077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 443.82886478905453, + -269.7077701710542, + -0.5803555158876996 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 443.82886478905453, + -269.7077701710542, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 445.32886478905453, + -267.1096939597009, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 446.82886478905453, + -264.5116177483476, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 448.32886478905453, + -261.9135415369943, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 449.82886478905453, + -259.31546532564096, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 451.32886478905453, + -256.71738911428764, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 452.82886478905453, + -254.11931290293433, + -0.5803555158876996 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 452.82886478905453, + -254.11931290293433, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 455.42694100040785, + -252.61931290293433, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 458.02501721176117, + -251.11931290293433, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 460.6230934231145, + -249.61931290293433, + -0.5803555158876996 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 463.2211696344678, + -248.11931290293433, + -0.5803555158876996 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-37-38_1260596963/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-37-38_1260596963/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc80f39c4d37651414fa2c6e31e9281528a74a50 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-37-38_1260596963/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 850.5758004761876, + -193.69046685978304, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 852.0758004761876, + -196.28854307113636, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 853.5758004761876, + -198.88661928248968, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 855.0758004761876, + -201.484695493843, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 856.5758004761876, + -204.0827717051963, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 858.0758004761876, + -206.68084791654962, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 859.5758004761876, + -209.27892412790294, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 861.0758004761876, + -211.87700033925626, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 862.5758004761876, + -214.47507655060957, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 864.0758004761876, + -217.0731527619629, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 865.5758004761876, + -219.6712289733162, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 867.0758004761876, + -222.26930518466952, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 868.5758004761876, + -224.86738139602284, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 870.0758004761876, + -227.46545760737615, + -4.037780489177896 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 870.0758004761876, + -227.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 872.673876687541, + -228.96545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 875.2719528988944, + -230.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 877.8700291102477, + -231.96545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 880.4681053216011, + -233.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 883.0661815329545, + -234.96545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 885.6642577443079, + -236.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 888.2623339556612, + -237.96545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 890.8604101670146, + -239.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 893.458486378368, + -240.96545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 896.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 896.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 899.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 902.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 905.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 908.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 911.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 914.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 917.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 920.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 923.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 926.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 929.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 932.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 935.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 938.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 941.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 944.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 947.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 950.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 953.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 956.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 956.0565625897214, + -242.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 958.6546388010747, + -243.96545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 961.2527150124281, + -245.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 963.8507912237815, + -246.96545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 966.4488674351348, + -248.46545760737615, + -4.037780489177896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 969.0469436464882, + -249.96545760737615, + -4.037780489177896 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-4-56_2033505236/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-4-56_2033505236/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d14d13ae7ddf3cd22cbcd3eaf75bd02e4ed6ead5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-4-56_2033505236/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 524.6649643215577, + -273.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 524.6649643215577, + -276.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 524.6649643215577, + -279.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 524.6649643215577, + -282.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 524.6649643215577, + -285.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 524.6649643215577, + -288.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 524.6649643215577, + -291.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 524.6649643215577, + -294.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 524.6649643215577, + -297.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 524.6649643215577, + -300.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 524.6649643215577, + -303.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 524.6649643215577, + -306.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 524.6649643215577, + -309.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 524.6649643215577, + -312.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 524.6649643215577, + -315.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 524.6649643215577, + -318.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 524.6649643215577, + -321.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 524.6649643215577, + -324.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 524.6649643215577, + -327.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 524.6649643215577, + -330.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 524.6649643215577, + -333.55334789047686, + 3.5755351684014887 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 524.6649643215577, + -333.55334789047686, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 523.1649643215577, + -336.1514241018302, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 521.6649643215577, + -338.7495003131835, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 520.1649643215577, + -341.3475765245368, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 518.6649643215577, + -343.9456527358901, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 517.1649643215577, + -346.54372894724344, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 515.6649643215577, + -349.14180515859675, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 514.1649643215577, + -351.73988136995007, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 512.6649643215577, + -354.3379575813034, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 511.1649643215577, + -356.9360337926567, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 509.6649643215577, + -359.53411000401, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 508.1649643215577, + -362.13218621536333, + 3.5755351684014887 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 508.1649643215577, + -362.13218621536333, + 3.5755351684014887 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 508.1649643215577, + -362.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 505.5668881102044, + -363.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 502.9688118988511, + -365.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 500.37073568749776, + -366.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 497.77265947614444, + -368.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 495.1745832647911, + -369.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 492.5765070534378, + -371.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 489.9784308420845, + -372.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 487.3803546307312, + -374.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 484.78227841937786, + -375.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 482.18420220802454, + -377.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 479.5861259966712, + -378.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 476.9880497853179, + -380.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 474.3899735739646, + -381.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 471.7918973626113, + -383.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 469.19382115125796, + -384.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 466.59574493990465, + -386.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 463.99766872855133, + -387.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 461.399592517198, + -389.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 458.8015163058447, + -390.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 456.2034400944914, + -392.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 453.60536388313807, + -393.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 451.00728767178475, + -395.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 448.40921146043144, + -396.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 445.8111352490781, + -398.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 443.2130590377248, + -399.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 440.6149828263715, + -401.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 438.0169066150182, + -402.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 435.41883040366486, + -404.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 432.82075419231154, + -405.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 430.2226779809582, + -407.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 427.6246017696049, + -408.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 425.0265255582516, + -410.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 422.4284493468983, + -411.63218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 419.83037313554496, + -413.13218621536333, + 3.5755351684014887 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 419.83037313554496, + -413.13218621536333, + 3.5755351684014887 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 419.83037313554496, + -413.13218621536333, + 3.5755351684014887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 419.83037313554496, + -416.13218621536333, + 3.5755351684014887 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948968 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-40-40_1988714904/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-40-40_1988714904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ac8da3abaee60bc853b510678245c464ba80d20 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-40-40_1988714904/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -228.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -225.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -222.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -219.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -216.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -213.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -210.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -207.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -204.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -201.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -198.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -189.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -186.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -183.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -180.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -177.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -174.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -171.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -168.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -165.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -162.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -159.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -156.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -153.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -150.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -147.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -144.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -141.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -141.66930963467684, + -403.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -139.07123342332352, + -401.7043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -136.4731572119702, + -400.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -133.8750810006169, + -398.7043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -131.27700478926357, + -397.2043382534894, + 0.5359448342854902 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -131.27700478926357, + -397.2043382534894, + 0.5359448342854902 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -131.27700478926357, + -397.2043382534894, + 0.5359448342854902 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -131.27700478926357, + -397.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -131.27700478926357, + -394.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -131.27700478926357, + -391.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.27700478926357, + -388.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -131.27700478926357, + -385.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -131.27700478926357, + -382.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -131.27700478926357, + -379.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -131.27700478926357, + -376.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -131.27700478926357, + -373.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -131.27700478926357, + -370.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -131.27700478926357, + -367.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -131.27700478926357, + -364.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -131.27700478926357, + -361.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -131.27700478926357, + -358.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -131.27700478926357, + -355.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -131.27700478926357, + -352.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -131.27700478926357, + -349.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -131.27700478926357, + -346.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -131.27700478926357, + -343.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -131.27700478926357, + -340.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -131.27700478926357, + -337.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -131.27700478926357, + -334.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -131.27700478926357, + -331.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -131.27700478926357, + -328.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -131.27700478926357, + -325.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -131.27700478926357, + -322.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -131.27700478926357, + -319.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -131.27700478926357, + -316.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -131.27700478926357, + -313.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -131.27700478926357, + -310.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -131.27700478926357, + -307.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -131.27700478926357, + -304.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -131.27700478926357, + -301.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -131.27700478926357, + -298.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -131.27700478926357, + -295.2043382534894, + 0.5359448342854902 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -131.27700478926357, + -295.2043382534894, + 0.5359448342854902 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -131.27700478926357, + -295.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -128.67892857791026, + -293.7043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -126.08085236655694, + -292.2043382534894, + 0.5359448342854902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -123.48277615520362, + -290.7043382534894, + 0.5359448342854902 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-40-6_1751378130/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-40-6_1751378130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e561502bfe326a49fb81245f6e93e406b04e44a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-40-6_1751378130/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1587.2936773306296, + -194.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1587.2936773306296, + -191.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1587.2936773306296, + -188.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1587.2936773306296, + -185.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1587.2936773306296, + -182.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1587.2936773306296, + -179.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1587.2936773306296, + -176.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1587.2936773306296, + -173.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1587.2936773306296, + -170.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1587.2936773306296, + -167.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1587.2936773306296, + -164.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1587.2936773306296, + -161.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1587.2936773306296, + -158.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1587.2936773306296, + -155.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1587.2936773306296, + -152.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1587.2936773306296, + -149.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1587.2936773306296, + -146.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1587.2936773306296, + -143.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1587.2936773306296, + -140.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1587.2936773306296, + -137.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1587.2936773306296, + -134.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1587.2936773306296, + -131.39554353911677, + 4.4155667374460865 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1587.2936773306296, + -131.39554353911677, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1588.7936773306296, + -128.79746732776346, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1590.2936773306296, + -126.19939111641014, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1591.7936773306296, + -123.60131490505682, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1593.2936773306296, + -121.00323869370351, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1594.7936773306296, + -118.40516248235019, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1596.2936773306296, + -115.80708627099688, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1597.7936773306296, + -113.20901005964356, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1599.2936773306296, + -110.61093384829024, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1600.7936773306296, + -108.01285763693693, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1602.2936773306296, + -105.41478142558361, + 4.4155667374460865 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1602.2936773306296, + -105.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1602.2936773306296, + -102.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1602.2936773306296, + -99.41478142558361, + 4.4155667374460865 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1602.2936773306296, + -99.41478142558361, + 4.4155667374460865 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1602.2936773306296, + -99.41478142558361, + 4.4155667374460865 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1602.2936773306296, + -99.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1599.6956011192763, + -97.91478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1597.097524907923, + -96.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1594.4994486965695, + -94.91478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1591.9013724852161, + -93.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1589.3032962738628, + -91.91478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1586.7052200625094, + -90.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1584.107143851156, + -88.91478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1581.5090676398027, + -87.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1578.9109914284493, + -85.91478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1576.312915217096, + -84.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1573.7148390057425, + -82.91478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1571.1167627943892, + -81.41478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1568.5186865830358, + -79.91478142558361, + 4.4155667374460865 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1568.5186865830358, + -79.91478142558361, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1567.0186865830358, + -77.3167052142303, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1565.5186865830358, + -74.71862900287698, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1564.0186865830358, + -72.12055279152366, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1562.5186865830358, + -69.52247658017035, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1561.0186865830358, + -66.92440036881703, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1559.5186865830358, + -64.32632415746372, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1558.0186865830358, + -61.7282479461104, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1556.5186865830358, + -59.130171734757084, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1555.0186865830358, + -56.53209552340377, + 4.4155667374460865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1553.5186865830358, + -53.93401931205045, + 4.4155667374460865 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-41-15_1130698571/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-41-15_1130698571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4a3fa82b562fb84d4e7bd95bbde571132aee5f8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-41-15_1130698571/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1521.8294082453788, + 66.67414673934724, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1519.2313320340254, + 65.17414673934724, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1516.633255822672, + 63.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1514.0351796113187, + 62.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1511.4371033999653, + 60.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1508.839027188612, + 59.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1506.2409509772585, + 57.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1503.6428747659052, + 56.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1501.0447985545518, + 54.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1498.4467223431984, + 53.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1495.848646131845, + 51.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1493.2505699204917, + 50.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1490.6524937091383, + 48.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1488.054417497785, + 47.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1485.4563412864316, + 45.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1482.8582650750782, + 44.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1480.2601888637248, + 42.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1477.6621126523714, + 41.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1475.064036441018, + 39.674146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1472.4659602296647, + 38.174146739347236, + -4.05373964798316 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1472.4659602296647, + 38.174146739347236, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1470.9659602296647, + 35.57607052799392, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1469.4659602296647, + 32.977994316640604, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1467.9659602296647, + 30.379918105287288, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1466.4659602296647, + 27.781841893933972, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1464.9659602296647, + 25.183765682580656, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1463.4659602296647, + 22.58568947122734, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1461.9659602296647, + 19.987613259874024, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1460.4659602296647, + 17.389537048520708, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1458.9659602296647, + 14.791460837167392, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1457.4659602296647, + 12.193384625814076, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1455.9659602296647, + 9.59530841446076, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1454.4659602296647, + 6.997232203107444, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1452.9659602296647, + 4.399155991754128, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1451.4659602296647, + 1.801079780400812, + -4.05373964798316 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1451.4659602296647, + 1.801079780400812, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1451.4659602296647, + -1.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1451.4659602296647, + -4.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1451.4659602296647, + -7.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1451.4659602296647, + -10.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1451.4659602296647, + -13.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1451.4659602296647, + -16.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1451.4659602296647, + -19.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1451.4659602296647, + -22.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1451.4659602296647, + -25.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1451.4659602296647, + -28.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1451.4659602296647, + -31.198920219599188, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1451.4659602296647, + -34.19892021959919, + -4.05373964798316 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.4659602296647, + -34.19892021959919, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1449.9659602296647, + -36.796996430952504, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1448.4659602296647, + -39.39507264230582, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1446.9659602296647, + -41.993148853659136, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1445.4659602296647, + -44.59122506501245, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1443.9659602296647, + -47.18930127636577, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1442.4659602296647, + -49.787377487719084, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1440.9659602296647, + -52.3854536990724, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1439.4659602296647, + -54.983529910425716, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1437.9659602296647, + -57.58160612177903, + -4.05373964798316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1436.4659602296647, + -60.17968233313235, + -4.05373964798316 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-42-57_483689685/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-42-57_483689685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b529886f3cf7f745a20044258f9cf644baf530d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-42-57_483689685/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1450.4109100735095, + -98.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1450.4109100735095, + -101.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1450.4109100735095, + -104.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1450.4109100735095, + -107.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1450.4109100735095, + -110.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1450.4109100735095, + -113.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1450.4109100735095, + -116.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1450.4109100735095, + -119.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1450.4109100735095, + -122.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1450.4109100735095, + -125.13546843995603, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1450.4109100735095, + -128.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1450.4109100735095, + -131.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1450.4109100735095, + -134.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1450.4109100735095, + -137.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1450.4109100735095, + -140.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1450.4109100735095, + -143.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1450.4109100735095, + -146.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1450.4109100735095, + -149.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1450.4109100735095, + -152.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1450.4109100735095, + -155.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1450.4109100735095, + -158.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1450.4109100735095, + -161.13546843995601, + -0.41071055283110436 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1450.4109100735095, + -161.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1448.9109100735095, + -163.73354465130933, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1447.4109100735095, + -166.33162086266265, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1445.9109100735095, + -168.92969707401596, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1444.4109100735095, + -171.52777328536928, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1442.9109100735095, + -174.1258494967226, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1441.4109100735095, + -176.7239257080759, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1439.9109100735095, + -179.32200191942923, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1438.4109100735095, + -181.92007813078254, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1436.9109100735095, + -184.51815434213586, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1438.4109100735095, + -181.92007813078254, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1439.9109100735095, + -179.32200191942923, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1441.4109100735095, + -176.7239257080759, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1442.9109100735095, + -174.1258494967226, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1444.4109100735095, + -171.52777328536928, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1445.9109100735095, + -168.92969707401596, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1447.4109100735095, + -166.33162086266265, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1448.9109100735095, + -163.73354465130933, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1450.4109100735095, + -161.13546843995601, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.9109100735095, + -158.5373922286027, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1453.4109100735095, + -155.93931601724938, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1454.9109100735095, + -153.34123980589607, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1456.4109100735095, + -150.74316359454275, + -0.41071055283110436 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1456.4109100735095, + -150.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1459.0089862848629, + -149.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1461.6070624962163, + -147.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1464.2051387075696, + -146.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1466.803214918923, + -144.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1469.4012911302764, + -143.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1471.9993673416297, + -141.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1474.5974435529831, + -140.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1477.1955197643365, + -138.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1479.7935959756899, + -137.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1482.3916721870432, + -135.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1484.9897483983966, + -134.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1487.58782460975, + -132.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1490.1859008211034, + -131.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1492.7839770324567, + -129.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1495.38205324381, + -128.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1497.9801294551635, + -126.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1500.5782056665169, + -125.24316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1503.1762818778702, + -123.74316359454275, + -0.41071055283110436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1505.7743580892236, + -122.24316359454275, + -0.41071055283110436 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-44-4_1360613073/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-44-4_1360613073/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dbf13d19a02045bf4dd770ad7839ef6d4b45304 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-44-4_1360613073/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -75.37030902071221, + -407.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -72.7722328093589, + -408.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -70.17415659800558, + -410.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -67.57608038665227, + -411.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -64.97800417529895, + -413.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -62.37992796394563, + -414.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -59.78185175259232, + -416.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -57.183775541239, + -417.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -54.585699329885685, + -419.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -51.98762311853237, + -420.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -49.38954690717905, + -422.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -46.79147069582574, + -423.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -44.19339448447242, + -425.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -41.595318273119105, + -426.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -38.99724206176579, + -428.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -36.39916585041247, + -429.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -33.80108963905916, + -431.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -31.20301342770584, + -432.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -28.604937216352525, + -434.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -26.00686100499921, + -435.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -23.408784793645893, + -437.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -20.810708582292577, + -438.6424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -18.21263237093926, + -440.1424479867632, + -2.0839844162327403 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -18.21263237093926, + -440.1424479867632, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -16.71263237093926, + -442.74052419811653, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.21263237093926, + -445.33860040946985, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -13.71263237093926, + -447.93667662082316, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -12.21263237093926, + -450.5347528321765, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -10.71263237093926, + -453.1328290435298, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -9.21263237093926, + -455.7309052548831, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -7.712632370939261, + -458.3289814662364, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -6.212632370939261, + -460.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -4.712632370939261, + -463.52513388894306, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -3.2126323709392604, + -466.1232101002964, + -2.0839844162327403 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -3.2126323709392604, + -466.1232101002964, + -2.0839844162327403 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -3.2126323709392604, + -466.1232101002964, + -2.0839844162327403 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -3.2126323709392604, + -466.1232101002964, + -2.0839844162327403 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -3.2126323709392604, + -466.1232101002964, + -2.0839844162327403 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -3.2126323709392604, + -466.1232101002964, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1.71263237093926, + -463.52513388894306, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -0.21263237093925946, + -460.92705767758974, + -2.0839844162327403 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -0.21263237093925946, + -460.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2.3854438404140565, + -459.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4.983520051767373, + -457.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 7.581596263120689, + -456.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 10.179672474474005, + -454.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 12.777748685827321, + -453.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 15.375824897180637, + -451.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 17.97390110853395, + -450.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 20.571977319887267, + -448.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 23.170053531240583, + -447.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 25.7681297425939, + -445.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 28.366205953947215, + -444.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 30.96428216530053, + -442.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 33.56235837665385, + -441.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 36.16043458800716, + -439.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 38.75851079936048, + -438.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 41.356587010713795, + -436.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 43.95466322206711, + -435.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 46.55273943342043, + -433.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 49.15081564477374, + -432.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 51.74889185612706, + -430.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 54.346968067480375, + -429.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 56.94504427883369, + -427.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 59.54312049018701, + -426.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 62.14119670154032, + -424.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 64.73927291289364, + -423.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 67.33734912424696, + -421.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 69.93542533560027, + -420.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 72.53350154695359, + -418.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 75.1315777583069, + -417.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 77.72965396966022, + -415.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 80.32773018101354, + -414.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 82.92580639236685, + -412.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 85.52388260372017, + -411.42705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 88.12195881507348, + -409.92705767758974, + -2.0839844162327403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 90.7200350264268, + -408.42705767758974, + -2.0839844162327403 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-46-41_746349250/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-46-41_746349250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0222c02a9755264c97fb7df1569f8c94c2b29b59 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-46-41_746349250/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1235.0677375987013, + 156.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1235.0677375987013, + 159.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1235.0677375987013, + 162.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1235.0677375987013, + 165.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1235.0677375987013, + 168.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1235.0677375987013, + 171.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1235.0677375987013, + 174.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1235.0677375987013, + 177.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1235.0677375987013, + 180.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1235.0677375987013, + 183.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1235.0677375987013, + 186.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1235.0677375987013, + 189.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1235.0677375987013, + 192.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1235.0677375987013, + 195.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1235.0677375987013, + 198.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1235.0677375987013, + 201.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1235.0677375987013, + 204.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1235.0677375987013, + 207.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1235.0677375987013, + 210.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1235.0677375987013, + 213.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1235.0677375987013, + 216.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1235.0677375987013, + 219.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1235.0677375987013, + 222.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1235.0677375987013, + 225.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1235.0677375987013, + 228.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1235.0677375987013, + 231.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1235.0677375987013, + 234.92067906756546, + 4.05049625896188 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1235.0677375987013, + 234.92067906756546, + 4.05049625896188 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1235.0677375987013, + 234.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1237.6658138100547, + 236.42067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1240.263890021408, + 237.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1242.8619662327615, + 239.42067906756546, + 4.05049625896188 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1242.8619662327615, + 239.42067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1245.8619662327615, + 239.42067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1248.8619662327615, + 239.42067906756546, + 4.05049625896188 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1248.8619662327615, + 239.42067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1251.4600424441148, + 237.92067906756546, + 4.05049625896188 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1251.4600424441148, + 237.92067906756546, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1252.9600424441148, + 235.32260285621214, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1254.4600424441148, + 232.72452664485883, + 4.05049625896188 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1254.4600424441148, + 232.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1257.0581186554682, + 231.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1259.6561948668216, + 229.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1262.254271078175, + 228.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1264.8523472895283, + 226.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1267.4504235008817, + 225.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1270.048499712235, + 223.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1272.6465759235884, + 222.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1275.2446521349418, + 220.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1277.8427283462952, + 219.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1280.4408045576486, + 217.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1283.038880769002, + 216.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1285.6369569803553, + 214.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1288.2350331917087, + 213.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1290.833109403062, + 211.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1293.4311856144154, + 210.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1296.0292618257688, + 208.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1298.6273380371222, + 207.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1301.2254142484755, + 205.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1303.823490459829, + 204.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1306.4215666711823, + 202.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1309.0196428825357, + 201.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1311.617719093889, + 199.72452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1314.2157953052424, + 198.22452664485883, + 4.05049625896188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1316.8138715165958, + 196.72452664485883, + 4.05049625896188 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-47-11_441767868/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-47-11_441767868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9c34645047672f4acd72faeee9693bcd7a62aec --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-47-11_441767868/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 775.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 778.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 781.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 784.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 787.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 790.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 793.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 796.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 799.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 802.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 805.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 808.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 811.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 814.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 817.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 820.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 823.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 826.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 829.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 832.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 835.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 838.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 841.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 844.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 847.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 850.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 850.0642199023971, + -394.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 852.6622961137505, + -392.5617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 855.2603723251038, + -391.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 857.8584485364572, + -389.5617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 860.4565247478106, + -388.0617943872906, + -3.90669936763289 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 860.4565247478106, + -388.0617943872906, + -3.90669936763289 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 860.4565247478106, + -388.0617943872906, + -3.90669936763289 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 860.4565247478106, + -388.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 860.4565247478106, + -385.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 860.4565247478106, + -382.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 860.4565247478106, + -379.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 860.4565247478106, + -376.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 860.4565247478106, + -373.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 860.4565247478106, + -370.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 860.4565247478106, + -367.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 860.4565247478106, + -364.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 860.4565247478106, + -361.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 860.4565247478106, + -358.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 860.4565247478106, + -355.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 860.4565247478106, + -352.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 860.4565247478106, + -349.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 860.4565247478106, + -346.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 860.4565247478106, + -343.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 860.4565247478106, + -340.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 860.4565247478106, + -337.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 860.4565247478106, + -334.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 860.4565247478106, + -331.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 860.4565247478106, + -328.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 860.4565247478106, + -325.0617943872906, + -3.90669936763289 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 860.4565247478106, + -325.0617943872906, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 861.9565247478106, + -322.4637181759373, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 863.4565247478106, + -319.865641964584, + -3.90669936763289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 864.9565247478106, + -317.26756575323066, + -3.90669936763289 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-49-8_659639006/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-49-8_659639006/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9421ca7c7748e35541a0758c621c5a96fe3a96b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-49-8_659639006/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -370.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -367.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -364.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -361.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -358.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -355.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -352.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -349.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -346.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -343.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -340.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -337.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -334.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -331.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -328.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -325.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -322.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -319.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -316.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -313.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -310.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -307.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -304.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -301.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -298.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -295.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -292.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -289.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -286.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -283.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -280.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -277.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -274.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -271.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -268.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -268.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -268.18078181186627, + -49.752541224930596, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -266.68078181186627, + -52.35061743628391, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -265.18078181186627, + -54.94869364763723, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -263.68078181186627, + -57.546769858990544, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -262.18078181186627, + -60.14484607034386, + -4.342030472247945 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -262.18078181186627, + -60.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -259.58270560051295, + -61.64484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -256.98462938915964, + -63.14484607034386, + -4.342030472247945 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -256.98462938915964, + -63.14484607034386, + -4.342030472247945 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -256.98462938915964, + -63.14484607034386, + -4.342030472247945 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -256.98462938915964, + -63.14484607034386, + -4.342030472247945 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -256.98462938915964, + -63.14484607034386, + -4.342030472247945 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -256.98462938915964, + -63.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -256.98462938915964, + -60.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -256.98462938915964, + -57.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -256.98462938915964, + -54.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -256.98462938915964, + -51.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -256.98462938915964, + -48.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -256.98462938915964, + -45.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -256.98462938915964, + -42.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -256.98462938915964, + -39.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -256.98462938915964, + -36.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -256.98462938915964, + -33.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -256.98462938915964, + -30.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -256.98462938915964, + -27.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -256.98462938915964, + -24.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -256.98462938915964, + -21.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -256.98462938915964, + -18.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -256.98462938915964, + -15.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -256.98462938915964, + -12.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -256.98462938915964, + -9.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -256.98462938915964, + -6.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -256.98462938915964, + -3.14484607034386, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -256.98462938915964, + -0.14484607034385988, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -256.98462938915964, + 2.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -256.98462938915964, + 5.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -256.98462938915964, + 8.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -256.98462938915964, + 11.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -256.98462938915964, + 14.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -256.98462938915964, + 17.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -256.98462938915964, + 20.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -256.98462938915964, + 23.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -256.98462938915964, + 26.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -256.98462938915964, + 29.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -256.98462938915964, + 32.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -256.98462938915964, + 35.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -256.98462938915964, + 38.85515392965614, + -4.342030472247945 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -256.98462938915964, + 38.85515392965614, + -4.342030472247945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -258.48462938915964, + 41.453230141009456, + -4.342030472247945 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-5-32_29777560/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-5-32_29777560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8651031978a51c87902223ac0000b196bf64086c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-5-32_29777560/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -53.344118480868104, + -602.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -55.94219469222142, + -603.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -58.540270903574736, + -605.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -61.13834711492805, + -606.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -63.73642332628137, + -608.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -66.33449953763468, + -609.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.932575748988, + -611.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -71.53065196034132, + -612.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -74.12872817169463, + -614.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.72680438304795, + -615.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.32488059440126, + -617.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.92295680575458, + -618.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -84.5210330171079, + -620.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -87.11910922846121, + -621.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -89.71718543981453, + -623.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -92.31526165116784, + -624.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -94.91333786252116, + -626.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -97.51141407387448, + -627.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -100.10949028522779, + -629.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -102.70756649658111, + -630.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -105.30564270793442, + -632.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -107.90371891928774, + -633.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -110.50179513064106, + -635.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -113.09987134199437, + -636.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -115.69794755334769, + -638.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -118.296023764701, + -639.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -120.89409997605432, + -641.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -123.49217618740764, + -642.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -126.09025239876095, + -644.3653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -128.68832861011427, + -645.8653529127084, + -4.246743732321764 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -128.68832861011427, + -645.8653529127084, + -4.246743732321764 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.68832861011427, + -645.8653529127084, + -4.246743732321764 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -128.68832861011427, + -645.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -128.68832861011427, + -648.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -128.68832861011427, + -651.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -128.68832861011427, + -654.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -128.68832861011427, + -657.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -128.68832861011427, + -660.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.68832861011427, + -663.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.68832861011427, + -666.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -128.68832861011427, + -669.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -128.68832861011427, + -672.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -128.68832861011427, + -675.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -128.68832861011427, + -678.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -128.68832861011427, + -681.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -128.68832861011427, + -684.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -128.68832861011427, + -687.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -128.68832861011427, + -690.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -128.68832861011427, + -693.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -128.68832861011427, + -696.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -128.68832861011427, + -699.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -128.68832861011427, + -702.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -128.68832861011427, + -705.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -128.68832861011427, + -708.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -128.68832861011427, + -711.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -128.68832861011427, + -714.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -128.68832861011427, + -717.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -128.68832861011427, + -720.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -128.68832861011427, + -723.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -128.68832861011427, + -726.8653529127084, + -4.246743732321764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -128.68832861011427, + -729.8653529127084, + -4.246743732321764 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-50-17_1385414639/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-50-17_1385414639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db2d624ae179ddc259ad791cde6b758e671de804 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-50-17_1385414639/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 34.728451909138634, + -673.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 32.13037569778532, + -672.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 29.532299486432002, + -670.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 26.934223275078686, + -669.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 24.33614706372537, + -667.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 21.738070852372054, + -666.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 19.13999464101874, + -664.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 16.541918429665422, + -663.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 13.943842218312106, + -661.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.34576600695879, + -660.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 8.747689795605474, + -658.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 6.149613584252158, + -657.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3.551537372898842, + -655.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 0.9534611615455262, + -654.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1.6446150498077898, + -652.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -4.242691261161106, + -651.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -6.840767472514422, + -649.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -9.438843683867738, + -648.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -12.036919895221054, + -646.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -14.63499610657437, + -645.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -17.233072317927686, + -643.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -19.831148529281002, + -642.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -22.429224740634318, + -640.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -25.027300951987634, + -639.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -27.62537716334095, + -637.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -30.223453374694266, + -636.4187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -32.82152958604758, + -634.9187177324648, + -4.556753232308826 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -32.82152958604758, + -634.9187177324648, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -34.32152958604758, + -632.3206415211114, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -35.82152958604758, + -629.722565309758, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -37.32152958604758, + -627.1244890984046, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -38.82152958604758, + -624.5264128870513, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -40.32152958604758, + -621.9283366756979, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -41.82152958604758, + -619.3302604643445, + -4.556753232308826 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -41.82152958604758, + -619.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -44.4196057974009, + -617.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -47.017682008754214, + -616.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -49.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -49.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -49.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -49.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -49.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -49.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -49.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -46.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -43.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -40.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -37.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -34.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -31.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -28.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -25.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -22.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -19.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -16.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -13.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -13.61575822010753, + -614.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -11.017682008754214, + -613.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -8.419605797400898, + -611.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -5.821529586047582, + -610.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -3.223453374694266, + -608.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -0.62537716334095, + -607.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1.972699048012366, + -605.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 4.570775259365682, + -604.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 7.168851470718998, + -602.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 9.766927682072314, + -601.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 12.36500389342563, + -599.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 14.963080104778946, + -598.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 17.561156316132262, + -596.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 20.159232527485578, + -595.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 22.757308738838894, + -593.8302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 25.35538495019221, + -592.3302604643445, + -4.556753232308826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 27.953461161545526, + -590.8302604643445, + -4.556753232308826 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-50-51_952062949/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-50-51_952062949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07a5a0c25cd4ee1168f6e0fc8914a85a36ce4a3a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-50-51_952062949/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1332.9884693756476, + -305.18568762859957, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1331.4884693756476, + -302.58761141724625, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1329.9884693756476, + -299.98953520589293, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1328.4884693756476, + -297.3914589945396, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1326.9884693756476, + -294.7933827831863, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1325.4884693756476, + -292.195306571833, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1323.9884693756476, + -289.59723036047967, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1322.4884693756476, + -286.99915414912635, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1320.9884693756476, + -284.40107793777304, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1319.4884693756476, + -281.8030017264197, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1317.9884693756476, + -279.2049255150664, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1316.4884693756476, + -276.6068493037131, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1314.9884693756476, + -274.0087730923598, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1313.4884693756476, + -271.41069688100646, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1311.9884693756476, + -268.81262066965314, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1310.4884693756476, + -266.2145444582998, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1308.9884693756476, + -263.6164682469465, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1307.4884693756476, + -261.0183920355932, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1305.9884693756476, + -258.4203158242399, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1304.4884693756476, + -255.82223961288656, + -2.4072329483925454 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1304.4884693756476, + -255.82223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1301.8903931642942, + -254.32223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1299.2923169529408, + -252.82223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1296.6942407415875, + -251.32223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1294.096164530234, + -249.82223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1291.4980883188807, + -248.32223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1288.9000121075273, + -246.82223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1286.301935896174, + -245.32223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1283.7038596848206, + -243.82223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1281.1057834734672, + -242.32223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1278.5077072621139, + -240.82223961288656, + -2.4072329483925454 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1278.5077072621139, + -240.82223961288656, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1277.0077072621139, + -238.22416340153325, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1275.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1275.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1275.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1275.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1275.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1275.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1278.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1281.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1284.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1287.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1290.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1293.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1296.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1299.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1302.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1305.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1308.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1311.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1311.5077072621139, + -235.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1314.1057834734672, + -234.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1316.7038596848206, + -232.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1319.301935896174, + -231.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1321.9000121075273, + -229.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1324.4980883188807, + -228.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1327.096164530234, + -226.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1329.6942407415875, + -225.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1332.2923169529408, + -223.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1334.8903931642942, + -222.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1337.4884693756476, + -220.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1340.086545587001, + -219.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1342.6846217983543, + -217.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1345.2826980097077, + -216.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1347.880774221061, + -214.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1350.4788504324144, + -213.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1353.0769266437678, + -211.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1355.6750028551212, + -210.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1358.2730790664746, + -208.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1360.871155277828, + -207.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1363.4692314891813, + -205.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1366.0673077005347, + -204.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1368.665383911888, + -202.62608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1371.2634601232414, + -201.12608719017993, + -2.4072329483925454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1373.8615363345948, + -199.62608719017993, + -2.4072329483925454 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-51-26_577721120/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-51-26_577721120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..289bb157c34494c50a6579b85e1355758b4311ee --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-51-26_577721120/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1504.0324244827684, + -126.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1504.0324244827684, + -123.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1504.0324244827684, + -120.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1504.0324244827684, + -117.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1504.0324244827684, + -114.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1504.0324244827684, + -111.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1504.0324244827684, + -108.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1504.0324244827684, + -105.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1504.0324244827684, + -102.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1504.0324244827684, + -99.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1504.0324244827684, + -96.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1504.0324244827684, + -93.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1504.0324244827684, + -90.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1504.0324244827684, + -87.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1504.0324244827684, + -84.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1504.0324244827684, + -81.40974703730731, + 3.4488365682637614 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1504.0324244827684, + -81.40974703730731, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1505.5324244827684, + -78.811670825954, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1507.0324244827684, + -76.21359461460068, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1508.5324244827684, + -73.61551840324736, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1510.0324244827684, + -71.01744219189405, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1511.5324244827684, + -68.41936598054073, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1513.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1513.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1513.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1513.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1516.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1519.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1522.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1525.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1528.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1531.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1534.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1537.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1540.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1543.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1546.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1549.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1549.0324244827684, + -65.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1551.6305006941218, + -67.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1554.2285769054752, + -68.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1556.8266531168285, + -70.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1559.424729328182, + -71.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1562.0228055395353, + -73.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1564.6208817508887, + -74.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1567.218957962242, + -76.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1569.8170341735954, + -77.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1572.4151103849488, + -79.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1575.0131865963021, + -80.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1577.6112628076555, + -82.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1580.209339019009, + -83.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1582.8074152303623, + -85.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1585.4054914417156, + -86.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1588.003567653069, + -88.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1590.6016438644224, + -89.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1593.1997200757758, + -91.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1595.7977962871291, + -92.82128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1598.3958724984825, + -94.32128976918742, + 3.4488365682637614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1600.9939487098359, + -95.82128976918742, + 3.4488365682637614 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-52-29_714880226/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-52-29_714880226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ef9f8d91963bb867f22f33a273a376d26f1f0ce --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-52-29_714880226/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -59.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -53.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -50.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -44.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -41.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -38.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -35.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -32.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -29.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -26.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -23.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -23.857435933093555, + 36.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -21.25935972174024, + 34.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.661283510386923, + 33.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -16.063207299033607, + 31.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -13.465131087680291, + 30.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -10.867054876326975, + 28.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -8.268978664973659, + 27.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -5.670902453620343, + 25.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -3.072826242267027, + 24.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -0.47475003091371093, + 22.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2.123326180439605, + 21.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4.721402391792921, + 19.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 7.319478603146237, + 18.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 9.917554814499553, + 16.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 12.51563102585287, + 15.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 15.113707237206185, + 13.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 17.7117834485595, + 12.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 20.309859659912817, + 10.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 22.907935871266133, + 9.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 25.50601208261945, + 7.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 28.104088293972765, + 6.415269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 30.70216450532608, + 4.915269130263596, + -4.280960060387202 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 30.70216450532608, + 4.915269130263596, + -4.280960060387202 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 30.70216450532608, + 4.915269130263596, + -4.280960060387202 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 30.70216450532608, + 4.915269130263596, + -4.280960060387202 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 30.70216450532608, + 4.915269130263596, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 32.20216450532608, + 7.513345341616912, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 33.70216450532608, + 10.111421552970228, + -4.280960060387202 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 33.70216450532608, + 10.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 36.3002407166794, + 11.611421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 38.89831692803271, + 13.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 41.49639313938603, + 14.611421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 44.094469350739345, + 16.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 46.69254556209266, + 17.611421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 49.29062177344598, + 19.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 51.88869798479929, + 20.611421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 54.48677419615261, + 22.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 57.084850407505925, + 23.611421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 59.68292661885924, + 25.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 62.28100283021256, + 26.611421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 64.87907904156587, + 28.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 67.47715525291919, + 29.611421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 70.0752314642725, + 31.111421552970228, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 72.67330767562582, + 32.61142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 75.27138388697914, + 34.11142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 77.86946009833245, + 35.61142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 80.46753630968577, + 37.11142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 83.06561252103909, + 38.61142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 85.6636887323924, + 40.11142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 88.26176494374572, + 41.61142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 90.85984115509903, + 43.11142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 93.45791736645235, + 44.61142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 96.05599357780567, + 46.11142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 98.65406978915898, + 47.61142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 101.2521460005123, + 49.11142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 103.85022221186561, + 50.61142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 106.44829842321893, + 52.11142155297023, + -4.280960060387202 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 106.44829842321893, + 52.11142155297023, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 107.94829842321893, + 54.709497764323544, + -4.280960060387202 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 109.44829842321893, + 57.30757397567686, + -4.280960060387202 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-54-55_1467963981/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-54-55_1467963981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7070524f358bd014d902e278b7ac66a5787aeba --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-54-55_1467963981/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 315.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 318.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 321.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 324.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 327.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 330.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 333.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 336.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 339.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 342.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 345.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 348.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 351.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 354.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 357.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 363.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 369.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 372.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 375.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 378.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 381.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 381.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 381.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 381.34382355855917, + -425.2905336179705, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 382.84382355855917, + -427.8886098293238, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 384.34382355855917, + -430.4866860406771, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 385.84382355855917, + -433.08476225203043, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 387.34382355855917, + -435.68283846338375, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 388.84382355855917, + -438.28091467473706, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 390.34382355855917, + -440.8789908860904, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 391.84382355855917, + -443.4770670974437, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 393.34382355855917, + -446.075143308797, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 394.84382355855917, + -448.6732195201503, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 396.34382355855917, + -451.27129573150364, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 397.84382355855917, + -453.86937194285696, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 399.34382355855917, + -456.4674481542103, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 400.84382355855917, + -459.0655243655636, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 402.34382355855917, + -461.6636005769169, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 403.84382355855917, + -464.2616767882702, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 405.34382355855917, + -466.85975299962354, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 406.84382355855917, + -469.45782921097685, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 408.34382355855917, + -472.05590542233017, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 409.84382355855917, + -474.6539816336835, + 4.153844212687005 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 409.84382355855917, + -474.6539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 412.4418997699125, + -476.1539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 415.0399759812658, + -477.6539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 417.6380521926191, + -479.1539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 420.23612840397243, + -480.6539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 422.83420461532575, + -482.1539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 425.43228082667906, + -483.6539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 428.0303570380324, + -485.1539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 430.6284332493857, + -486.6539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 433.226509460739, + -488.1539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 435.8245856720923, + -489.6539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 438.42266188344564, + -491.1539816336835, + 4.153844212687005 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 438.42266188344564, + -491.1539816336835, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 439.92266188344564, + -493.7520578450368, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 441.42266188344564, + -496.3501340563901, + 4.153844212687005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 442.92266188344564, + -498.94821026774343, + 4.153844212687005 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-57-49_690367770/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-57-49_690367770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08db3e3e3e0a26c03d2d905b9be6cdea55b0507f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-57-49_690367770/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 478.29951479155625, + -330.1603015680825, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 476.79951479155625, + -332.7583777794358, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 475.29951479155625, + -335.35645399078913, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 473.79951479155625, + -337.95453020214245, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 472.29951479155625, + -340.55260641349577, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 470.79951479155625, + -343.1506826248491, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 469.29951479155625, + -345.7487588362024, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 467.79951479155625, + -348.3468350475557, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 466.29951479155625, + -350.94491125890903, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 464.79951479155625, + -353.54298747026235, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 463.29951479155625, + -356.14106368161566, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 461.79951479155625, + -358.739139892969, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 460.29951479155625, + -361.3372161043223, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 458.79951479155625, + -363.9352923156756, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 457.29951479155625, + -366.5333685270289, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 455.79951479155625, + -369.13144473838224, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 454.29951479155625, + -371.72952094973556, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 452.79951479155625, + -374.3275971610889, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 451.29951479155625, + -376.9256733724422, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 449.79951479155625, + -379.5237495837955, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 448.29951479155625, + -382.1218257951488, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 446.79951479155625, + -384.71990200650214, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 445.29951479155625, + -387.31797821785545, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 443.79951479155625, + -389.91605442920877, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 442.29951479155625, + -392.5141306405621, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 440.79951479155625, + -395.1122068519154, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 439.29951479155625, + -397.7102830632687, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 437.79951479155625, + -400.30835927462203, + 2.3481814247630792 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 437.79951479155625, + -400.30835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 435.20143858020293, + -401.80835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 432.6033623688496, + -403.30835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 430.0052861574963, + -404.80835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 427.407209946143, + -406.30835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 424.80913373478967, + -407.80835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 422.21105752343635, + -409.30835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 419.61298131208304, + -410.80835927462203, + 2.3481814247630792 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 419.61298131208304, + -410.80835927462203, + 2.3481814247630792 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 419.61298131208304, + -410.80835927462203, + 2.3481814247630792 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 419.61298131208304, + -410.80835927462203, + 2.3481814247630792 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 419.61298131208304, + -410.80835927462203, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 421.11298131208304, + -413.40643548597535, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 422.61298131208304, + -416.00451169732867, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 424.11298131208304, + -418.602587908682, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 425.61298131208304, + -421.2006641200353, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 427.11298131208304, + -423.7987403313886, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 428.61298131208304, + -426.39681654274193, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 430.11298131208304, + -428.99489275409525, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 431.61298131208304, + -431.59296896544856, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 433.11298131208304, + -434.1910451768019, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 434.61298131208304, + -436.7891213881552, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 436.11298131208304, + -439.3871975995085, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 437.61298131208304, + -441.9852738108618, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 439.11298131208304, + -444.58335002221514, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 440.61298131208304, + -447.18142623356846, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 442.11298131208304, + -449.7795024449218, + 2.3481814247630792 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 442.11298131208304, + -449.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 442.11298131208304, + -452.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 442.11298131208304, + -455.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 442.11298131208304, + -458.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 442.11298131208304, + -461.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 442.11298131208304, + -464.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 442.11298131208304, + -467.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 442.11298131208304, + -470.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 442.11298131208304, + -473.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 442.11298131208304, + -476.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 442.11298131208304, + -479.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 442.11298131208304, + -482.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 442.11298131208304, + -485.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 442.11298131208304, + -488.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 442.11298131208304, + -491.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 442.11298131208304, + -494.7795024449218, + 2.3481814247630792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 442.11298131208304, + -497.7795024449218, + 2.3481814247630792 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-6-2_345367818/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-6-2_345367818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c620f8f149d46cda0065b30d7ca066933d28fee4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-6-2_345367818/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -53.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -50.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -47.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -44.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -41.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -38.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -35.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -32.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -29.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -26.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -23.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -20.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -17.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -17.570272637040844, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -14.972196425687528, + 30.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -12.374120214334212, + 29.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -9.776044002980896, + 27.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -7.17796779162758, + 26.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -4.579891580274264, + 24.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1.9818153689209481, + 23.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 0.6162608424323679, + 21.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.214337053785684, + 20.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 5.812413265139, + 18.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 8.410489476492316, + 17.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 11.008565687845632, + 15.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 13.606641899198948, + 14.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 16.204718110552264, + 12.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 18.80279432190558, + 11.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 21.400870533258896, + 9.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 23.998946744612212, + 8.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 26.597022955965528, + 6.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 29.195099167318844, + 5.265970446445856, + -0.6247970812523036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 29.195099167318844, + 5.265970446445856, + -0.6247970812523036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 29.195099167318844, + 5.265970446445856, + -0.6247970812523036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 29.195099167318844, + 5.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 31.79317537867216, + 6.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 34.391251590025476, + 8.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 36.98932780137879, + 9.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 39.58740401273211, + 11.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 42.185480224085424, + 12.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 44.78355643543874, + 14.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 47.381632646792056, + 15.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 49.97970885814537, + 17.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 52.57778506949869, + 18.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 55.175861280852004, + 20.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 57.77393749220532, + 21.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 60.372013703558636, + 23.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 62.97008991491195, + 24.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 65.56816612626527, + 26.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 68.16624233761858, + 27.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 70.7643185489719, + 29.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 73.36239476032522, + 30.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 75.96047097167853, + 32.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 78.55854718303185, + 33.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 81.15662339438516, + 35.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 83.75469960573848, + 36.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 86.3527758170918, + 38.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 88.95085202844511, + 39.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 91.54892823979843, + 41.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 94.14700445115174, + 42.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 96.74508066250506, + 44.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 99.34315687385838, + 45.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 101.94123308521169, + 47.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 104.53930929656501, + 48.765970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 107.13738550791832, + 50.265970446445856, + -0.6247970812523036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 107.13738550791832, + 50.265970446445856, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 108.63738550791832, + 52.86404665779917, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 110.13738550791832, + 55.46212286915249, + -0.6247970812523036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 111.63738550791832, + 58.060199080505804, + -0.6247970812523036 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-8-50_216588711/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-8-50_216588711/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60ae3a91f49055603ff157a9ab4f9c776c3e5c0d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-8-50_216588711/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.68668841525228, + -646.7659507009323, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 44.18668841525228, + -649.3640269122857, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 42.68668841525228, + -651.962103123639, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 41.18668841525228, + -654.5601793349924, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 39.68668841525228, + -657.1582555463458, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 38.18668841525228, + -659.7563317576992, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.68668841525228, + -662.3544079690525, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 35.18668841525228, + -664.9524841804059, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 33.68668841525228, + -667.5505603917593, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 32.18668841525228, + -670.1486366031127, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 30.686688415252277, + -672.746712814466, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 29.186688415252277, + -675.3447890258194, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 27.686688415252277, + -677.9428652371728, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 26.186688415252277, + -680.5409414485262, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 24.686688415252277, + -683.1390176598795, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.186688415252277, + -685.7370938712329, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 21.686688415252277, + -688.3351700825863, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 20.186688415252277, + -690.9332462939396, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.686688415252277, + -693.531322505293, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 17.186688415252277, + -696.1293987166464, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 15.686688415252277, + -698.7274749279998, + -4.075618254044186 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 15.686688415252277, + -698.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 13.088612203898961, + -700.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 10.490535992545645, + -701.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 7.892459781192329, + -703.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 5.294383569839013, + -704.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2.696307358485697, + -706.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 0.09823114713238112, + -707.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2.499845064220935, + -709.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -5.097921275574251, + -710.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -7.695997486927567, + -712.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -10.294073698280883, + -713.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -12.892149909634199, + -715.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -15.490226120987515, + -716.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -18.08830233234083, + -718.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -20.686378543694147, + -719.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -23.284454755047463, + -721.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -25.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -25.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -25.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -25.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -25.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -25.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -25.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -22.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -19.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -16.88253096640078, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -13.882530966400779, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -10.882530966400779, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -7.882530966400779, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -4.882530966400779, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1.882530966400779, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1.117469033599221, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4.117469033599221, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 7.117469033599221, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 10.117469033599221, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 13.117469033599221, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 16.11746903359922, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 19.11746903359922, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 22.11746903359922, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 25.11746903359922, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 28.11746903359922, + -722.7274749279998, + -4.075618254044186 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 28.11746903359922, + -722.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 30.715545244952537, + -721.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 33.31362145630585, + -719.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 35.91169766765917, + -718.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 38.509773879012485, + -716.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 41.1078500903658, + -715.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 43.70592630171912, + -713.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 46.30400251307243, + -712.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 48.90207872442575, + -710.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 51.500154935779065, + -709.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 54.09823114713238, + -707.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 56.6963073584857, + -706.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 59.29438356983901, + -704.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 61.89245978119233, + -703.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 64.49053599254565, + -701.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 67.08861220389896, + -700.2274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 69.68668841525228, + -698.7274749279998, + -4.075618254044186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 72.2847646266056, + -697.2274749279998, + -4.075618254044186 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-9-25_1319041805/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-9-25_1319041805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e92f4d743253416d670dfff3921102f46a12057 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_4-9-25_1319041805/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 61.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 58.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 55.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 52.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 49.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 46.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 40.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 34.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 31.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 28.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 25.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 22.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 19.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 13.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 10.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 7.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.5924492598323, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -4.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -7.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -10.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -13.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -16.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -19.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -22.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -25.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -28.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -31.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -34.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -37.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -40.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -43.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -46.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -49.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -49.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -49.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -49.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -49.4075507401677, + -613.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -49.4075507401677, + -616.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -49.4075507401677, + -619.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -49.4075507401677, + -622.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -49.4075507401677, + -625.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -49.4075507401677, + -628.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -49.4075507401677, + -631.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -49.4075507401677, + -634.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -49.4075507401677, + -637.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -49.4075507401677, + -640.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -49.4075507401677, + -643.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -49.4075507401677, + -646.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -49.4075507401677, + -649.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -49.4075507401677, + -652.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -49.4075507401677, + -655.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -49.4075507401677, + -658.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -49.4075507401677, + -661.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -49.4075507401677, + -664.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -49.4075507401677, + -667.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -49.4075507401677, + -670.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -49.4075507401677, + -673.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -49.4075507401677, + -676.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -49.4075507401677, + -679.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -49.4075507401677, + -682.2122700916545, + 2.0148196379831322 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -49.4075507401677, + -682.2122700916545, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -47.9075507401677, + -684.8103463030079, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -46.4075507401677, + -687.4084225143613, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -44.9075507401677, + -690.0064987257147, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -43.4075507401677, + -692.604574937068, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -41.9075507401677, + -695.2026511484214, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -40.4075507401677, + -697.8007273597748, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -38.9075507401677, + -700.3988035711282, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -37.4075507401677, + -702.9968797824815, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -35.9075507401677, + -705.5949559938349, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -34.4075507401677, + -708.1930322051883, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -32.9075507401677, + -710.7911084165416, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -31.4075507401677, + -713.389184627895, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -29.9075507401677, + -715.9872608392484, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -28.4075507401677, + -718.5853370506018, + 2.0148196379831322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -26.9075507401677, + -721.1834132619551, + 2.0148196379831322 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-11-47_168057522/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-11-47_168057522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34ef11b67f0dc0ec02f98dc05e5555d8193078df --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-11-47_168057522/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -145.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -142.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -139.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -136.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -133.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -130.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -127.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -124.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -121.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -118.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -115.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -112.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -109.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -109.67663401394998, + -400.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.07855780259666, + -399.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -104.48048159124335, + -397.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.88240537989003, + -396.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -99.28432916853671, + -394.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -96.6862529571834, + -393.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -94.08817674583008, + -391.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -91.49010053447677, + -390.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -88.89202432312345, + -388.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -86.29394811177013, + -387.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -83.69587190041682, + -385.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -81.0977956890635, + -384.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -78.49971947771019, + -382.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -75.90164326635687, + -381.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -73.30356705500355, + -379.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -70.70549084365024, + -378.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -68.10741463229692, + -376.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -65.5093384209436, + -375.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -62.91126220959029, + -373.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -60.313185998236975, + -372.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -57.71510978688366, + -370.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -55.11703357553034, + -369.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -52.51895736417703, + -367.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -49.92088115282371, + -366.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -47.322804941470395, + -364.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -44.72472873011708, + -363.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -42.12665251876376, + -361.71310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -39.52857630741045, + -360.21310298831224, + 0.87139207617831 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -39.52857630741045, + -360.21310298831224, + 0.87139207617831 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -39.52857630741045, + -360.21310298831224, + 0.87139207617831 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -39.52857630741045, + -360.21310298831224, + 0.87139207617831 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -39.52857630741045, + -360.21310298831224, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -38.02857630741045, + -362.81117919966556, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -36.52857630741045, + -365.4092554110189, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -35.02857630741045, + -368.0073316223722, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -33.52857630741045, + -370.6054078337255, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -32.02857630741045, + -373.2034840450788, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -30.528576307410447, + -375.80156025643214, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -29.028576307410447, + -378.39963646778546, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -27.528576307410447, + -380.9977126791388, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -26.028576307410447, + -383.5957888904921, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -24.528576307410447, + -386.1938651018454, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -23.028576307410447, + -388.7919413131987, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -21.528576307410447, + -391.39001752455204, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -20.028576307410447, + -393.98809373590535, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -18.528576307410447, + -396.58616994725867, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -17.028576307410447, + -399.184246158612, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -15.528576307410447, + -401.7823223699653, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -14.028576307410447, + -404.3803985813186, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -12.528576307410447, + -406.97847479267193, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -11.028576307410447, + -409.57655100402525, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -9.528576307410447, + -412.17462721537856, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -8.028576307410447, + -414.7727034267319, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -6.528576307410447, + -417.3707796380852, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -5.028576307410447, + -419.9688558494385, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -3.528576307410446, + -422.5669320607918, + 0.87139207617831 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -3.528576307410446, + -422.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -3.528576307410446, + -425.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -3.528576307410446, + -428.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -3.528576307410446, + -431.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -3.528576307410446, + -434.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -3.528576307410446, + -437.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -3.528576307410446, + -440.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -3.528576307410446, + -443.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -3.528576307410446, + -446.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -3.528576307410446, + -449.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -3.528576307410446, + -452.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -3.528576307410446, + -455.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -3.528576307410446, + -458.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -3.528576307410446, + -461.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -3.528576307410446, + -464.5669320607918, + 0.87139207617831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -3.528576307410446, + -467.5669320607918, + 0.87139207617831 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-13-1_1038626924/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-13-1_1038626924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48009e73d13356470f923032cb8cbe0843d477f3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-13-1_1038626924/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1331.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1334.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1337.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1340.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1343.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1346.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1349.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1352.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1355.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1358.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1361.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1364.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1367.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1370.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1373.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1376.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1379.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1382.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1385.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1388.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1391.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1394.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1397.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1400.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1403.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1406.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1409.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1412.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1415.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1418.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1421.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1424.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1427.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1430.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1433.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1433.9068475624638, + -13.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1436.5049237738172, + -11.516824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1439.1029999851705, + -10.016824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1441.701076196524, + -8.516824688348594, + -3.4240265488420984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1441.701076196524, + -8.516824688348594, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1443.201076196524, + -5.918748476995278, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1444.701076196524, + -3.320672265641962, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1446.201076196524, + -0.7225960542886458, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1446.201076196524, + -0.7225960542886458, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1446.201076196524, + -0.7225960542886458, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1446.201076196524, + -0.7225960542886458, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1446.201076196524, + -0.7225960542886458, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1446.201076196524, + -0.7225960542886458, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1446.201076196524, + -0.7225960542886458, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1446.201076196524, + -3.722596054288646, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1446.201076196524, + -6.722596054288646, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1446.201076196524, + -9.722596054288646, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1446.201076196524, + -12.722596054288646, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1446.201076196524, + -15.722596054288646, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1446.201076196524, + -18.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1446.201076196524, + -21.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1446.201076196524, + -24.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1446.201076196524, + -27.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1446.201076196524, + -30.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1446.201076196524, + -33.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1446.201076196524, + -36.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1446.201076196524, + -39.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1446.201076196524, + -42.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1446.201076196524, + -45.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1446.201076196524, + -48.722596054288644, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1446.201076196524, + -48.722596054288644, + -3.4240265488420984 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1446.201076196524, + -48.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1443.6029999851705, + -50.222596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1441.0049237738172, + -51.722596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1438.4068475624638, + -53.222596054288644, + -3.4240265488420984 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1438.4068475624638, + -53.222596054288644, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1436.9068475624638, + -55.82067226564196, + -3.4240265488420984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1435.4068475624638, + -58.418748476995276, + -3.4240265488420984 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-14-12_93189435/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-14-12_93189435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7458cce12c9908230a63a9f32526828783ec7db4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-14-12_93189435/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -202.5354698282876, + -344.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -199.9373936169343, + -342.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -197.33931740558097, + -341.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -194.74124119422765, + -339.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -192.14316498287434, + -338.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -189.54508877152102, + -336.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -186.9470125601677, + -335.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -184.3489363488144, + -333.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -181.75086013746107, + -332.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -179.15278392610776, + -330.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -176.55470771475444, + -329.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -173.95663150340113, + -327.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -171.3585552920478, + -326.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -168.7604790806945, + -324.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -166.16240286934118, + -323.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -163.56432665798786, + -321.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -160.96625044663455, + -320.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -158.36817423528123, + -318.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -155.77009802392791, + -317.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -153.1720218125746, + -315.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -150.57394560122128, + -314.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -147.97586938986797, + -312.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -145.37779317851465, + -311.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -142.77971696716133, + -309.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -140.18164075580802, + -308.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -137.5835645444547, + -306.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -134.9854883331014, + -305.43647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -132.38741212174807, + -303.93647121162877, + 2.2892486799602096 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -132.38741212174807, + -303.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -130.88741212174807, + -301.33839500027545, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -129.38741212174807, + -298.74031878892214, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -127.88741212174807, + -296.1422425775688, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -126.38741212174807, + -293.5441663662155, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -124.88741212174807, + -290.9460901548622, + 2.2892486799602096 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -124.88741212174807, + -290.9460901548622, + 2.2892486799602096 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -124.88741212174807, + -290.9460901548622, + 2.2892486799602096 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -124.88741212174807, + -290.9460901548622, + 2.2892486799602096 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -124.88741212174807, + -290.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -122.28933591039475, + -292.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -119.69125969904144, + -293.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -117.09318348768812, + -295.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -114.4951072763348, + -296.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -111.89703106498149, + -298.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -109.29895485362817, + -299.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -106.70087864227486, + -301.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -104.10280243092154, + -302.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -101.50472621956823, + -304.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -98.90665000821491, + -305.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -96.3085737968616, + -307.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -93.71049758550828, + -308.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -91.11242137415496, + -310.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -88.51434516280165, + -311.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -85.91626895144833, + -313.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -83.31819274009501, + -314.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -80.7201165287417, + -316.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -78.12204031738838, + -317.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -75.52396410603507, + -319.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -72.92588789468175, + -320.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -70.32781168332843, + -322.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -67.72973547197512, + -323.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -65.1316592606218, + -325.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -62.533583049268486, + -326.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -59.93550683791517, + -328.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -57.337430626561854, + -329.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -54.73935441520854, + -331.4460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -52.14127820385522, + -332.9460901548622, + 2.2892486799602096 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -52.14127820385522, + -332.9460901548622, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -50.64127820385522, + -335.5441663662155, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -49.14127820385522, + -338.1422425775688, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -47.64127820385522, + -340.74031878892214, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -46.14127820385522, + -343.33839500027545, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -44.64127820385522, + -345.93647121162877, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -43.14127820385522, + -348.5345474229821, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -41.64127820385522, + -351.1326236343354, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -40.14127820385522, + -353.7306998456887, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -38.64127820385522, + -356.32877605704203, + 2.2892486799602096 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -37.14127820385522, + -358.92685226839535, + 2.2892486799602096 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-17-14_199411898/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-17-14_199411898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4b856e7faeb10103798e07cf6cb4f9e3b5b5699 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-17-14_199411898/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1053.8788223869167, + -309.94317749366024, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1055.3788223869167, + -307.3451012823069, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1056.8788223869167, + -304.7470250709536, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1058.3788223869167, + -302.1489488596003, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1059.8788223869167, + -299.550872648247, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1061.3788223869167, + -296.95279643689366, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1062.8788223869167, + -294.35472022554035, + -1.9062046976492102 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1062.8788223869167, + -294.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1062.8788223869167, + -291.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1062.8788223869167, + -288.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1062.8788223869167, + -285.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1062.8788223869167, + -282.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1062.8788223869167, + -279.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1062.8788223869167, + -276.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1062.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1062.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1062.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1062.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1062.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1065.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1068.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1071.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1071.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1071.8788223869167, + -273.35472022554035, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1073.3788223869167, + -270.75664401418703, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1074.8788223869167, + -268.1585678028337, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1076.3788223869167, + -265.5604915914804, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1077.8788223869167, + -262.9624153801271, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1079.3788223869167, + -260.36433916877377, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1080.8788223869167, + -257.76626295742045, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1082.3788223869167, + -255.16818674606714, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1083.8788223869167, + -252.57011053471382, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1085.3788223869167, + -249.9720343233605, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1086.8788223869167, + -247.3739581120072, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1088.3788223869167, + -244.77588190065387, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1089.8788223869167, + -242.17780568930056, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1091.3788223869167, + -239.57972947794724, + -1.9062046976492102 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1091.3788223869167, + -239.57972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1093.97689859827, + -238.07972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1096.5749748096234, + -236.57972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1099.1730510209768, + -235.07972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1101.7711272323302, + -233.57972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1104.3692034436835, + -232.07972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1106.967279655037, + -230.57972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1109.5653558663903, + -229.07972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1112.1634320777437, + -227.57972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1114.761508289097, + -226.07972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1117.3595845004504, + -224.57972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1119.9576607118038, + -223.07972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1122.5557369231572, + -221.57972947794724, + -1.9062046976492102 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1125.1538131345105, + -220.07972947794724, + -1.9062046976492102 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-17-43_2064945486/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-17-43_2064945486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9c2b3b2ca2a70b7ab3f7e4b899dd49594628452 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-17-43_2064945486/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 392.24314372626344, + -189.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.24314372626344, + -189.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.24314372626344, + -189.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.24314372626344, + -189.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 404.24314372626344, + -189.6171264788372, + -2.4756267904946574 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 404.24314372626344, + -189.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 406.84121993761676, + -191.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 409.4392961489701, + -192.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 412.0373723603234, + -194.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 414.6354485716767, + -195.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 417.23352478303, + -197.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.83160099438334, + -198.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 422.42967720573665, + -200.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 425.02775341708997, + -201.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.6258296284433, + -203.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 430.2239058397966, + -204.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.8219820511499, + -206.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 435.42005826250323, + -207.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 438.01813447385655, + -209.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 440.61621068520986, + -210.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 443.2142868965632, + -212.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 445.8123631079165, + -213.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 448.4104393192698, + -215.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 451.00851553062313, + -216.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 453.60659174197644, + -218.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 456.20466795332976, + -219.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.8027441646831, + -221.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 461.4008203760364, + -222.6171264788372, + -2.4756267904946574 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 461.4008203760364, + -222.6171264788372, + -2.4756267904946574 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 461.4008203760364, + -222.6171264788372, + -2.4756267904946574 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 461.4008203760364, + -222.6171264788372, + -2.4756267904946574 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 461.4008203760364, + -222.6171264788372, + -2.4756267904946574 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 461.4008203760364, + -222.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 458.8027441646831, + -224.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 456.20466795332976, + -225.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 453.60659174197644, + -227.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 451.00851553062313, + -228.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 448.4104393192698, + -230.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 445.8123631079165, + -231.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 443.2142868965632, + -233.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 440.61621068520986, + -234.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 438.01813447385655, + -236.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 435.42005826250323, + -237.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 432.8219820511499, + -239.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 430.2239058397966, + -240.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 427.6258296284433, + -242.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 425.02775341708997, + -243.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 422.42967720573665, + -245.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 419.83160099438334, + -246.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 417.23352478303, + -248.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 414.6354485716767, + -249.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 412.0373723603234, + -251.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 409.4392961489701, + -252.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 406.84121993761676, + -254.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 404.24314372626344, + -255.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 401.6450675149101, + -257.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915024 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 399.0469913035568, + -258.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 396.4489150922035, + -260.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 393.8508388808502, + -261.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 391.25276266949686, + -263.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 388.65468645814354, + -264.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 386.0566102467902, + -266.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 383.4585340354369, + -267.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 380.8604578240836, + -269.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 378.2623816127303, + -270.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 375.66430540137696, + -272.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 373.06622919002365, + -273.6171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 370.46815297867033, + -275.1171264788372, + -2.4756267904946574 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 367.870076767317, + -276.6171264788372, + -2.4756267904946574 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-19-24_1022089159/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-19-24_1022089159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fa2a5d22915c21d6544adee74f7835a3a8788a7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-19-24_1022089159/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1216.9390936676853, + 329.33885779753246, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1218.4390936676853, + 326.74078158617914, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1219.9390936676853, + 324.1427053748258, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1221.4390936676853, + 321.5446291634725, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1222.9390936676853, + 318.9465529521192, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1224.4390936676853, + 316.3484767407659, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1225.9390936676853, + 313.75040052941256, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1227.4390936676853, + 311.15232431805924, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1228.9390936676853, + 308.5542481067059, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1230.4390936676853, + 305.9561718953526, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1231.9390936676853, + 303.3580956839993, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1233.4390936676853, + 300.760019472646, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1234.9390936676853, + 298.16194326129266, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1236.4390936676853, + 295.56386704993935, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1237.9390936676853, + 292.96579083858603, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1239.4390936676853, + 290.3677146272327, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1240.9390936676853, + 287.7696384158794, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1242.4390936676853, + 285.1715622045261, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1243.9390936676853, + 282.57348599317277, + 3.83639923341846 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1243.9390936676853, + 282.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1243.9390936676853, + 279.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1243.9390936676853, + 276.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1243.9390936676853, + 273.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1243.9390936676853, + 270.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1243.9390936676853, + 267.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1243.9390936676853, + 264.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1243.9390936676853, + 261.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1243.9390936676853, + 258.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1243.9390936676853, + 255.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1243.9390936676853, + 252.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1243.9390936676853, + 249.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1243.9390936676853, + 246.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1243.9390936676853, + 243.57348599317277, + 3.83639923341846 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1243.9390936676853, + 243.57348599317277, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1245.4390936676853, + 240.97540978181945, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1246.9390936676853, + 238.37733357046613, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1248.4390936676853, + 235.77925735911282, + 3.83639923341846 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1248.4390936676853, + 235.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1251.0371698790386, + 234.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1253.635246090392, + 232.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1256.2333223017454, + 231.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1258.8313985130987, + 229.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1261.4294747244521, + 228.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1264.0275509358055, + 226.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1266.6256271471589, + 225.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1269.2237033585122, + 223.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1271.8217795698656, + 222.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1274.419855781219, + 220.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1277.0179319925724, + 219.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1279.6160082039257, + 217.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1282.214084415279, + 216.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1284.8121606266325, + 214.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1287.4102368379858, + 213.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1290.0083130493392, + 211.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1292.6063892606926, + 210.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1295.204465472046, + 208.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1297.8025416833993, + 207.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1300.4006178947527, + 205.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1302.998694106106, + 204.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1305.5967703174595, + 202.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1308.1948465288128, + 201.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1310.7929227401662, + 199.77925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1313.3909989515196, + 198.27925735911282, + 3.83639923341846 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1315.989075162873, + 196.77925735911282, + 3.83639923341846 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-2-16_1910858270/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-2-16_1910858270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4de8ff2c2175d8580636d0986e37a563777ad21 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-2-16_1910858270/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1533.5334443585275, + 135.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1530.9353681471741, + 134.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1528.3372919358208, + 132.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1525.7392157244674, + 131.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1523.141139513114, + 129.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1520.5430633017606, + 128.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1517.9449870904073, + 126.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1515.346910879054, + 125.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1512.7488346677005, + 123.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1510.1507584563471, + 122.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1507.5526822449938, + 120.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1504.9546060336404, + 119.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1502.356529822287, + 117.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1499.7584536109337, + 116.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1497.1603773995803, + 114.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1494.562301188227, + 113.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1491.9642249768735, + 111.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1489.3661487655202, + 110.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1486.7680725541668, + 108.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1484.1699963428134, + 107.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1481.57192013146, + 105.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1478.9738439201067, + 104.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1476.3757677087533, + 102.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1473.7776914974, + 101.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1471.1796152860466, + 99.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1468.5815390746932, + 98.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1465.9834628633398, + 96.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1463.3853866519864, + 95.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1460.787310440633, + 93.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1458.1892342292797, + 92.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1455.5911580179263, + 90.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1452.993081806573, + 89.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1450.3950055952196, + 87.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1447.7969293838662, + 86.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1445.1988531725128, + 84.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1442.6007769611595, + 83.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1440.002700749806, + 81.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1437.4046245384527, + 80.31864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1434.8065483270993, + 78.81864667983876, + 3.250214045579206 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1434.8065483270993, + 78.81864667983876, + 3.250214045579206 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1434.8065483270993, + 78.81864667983876, + 3.250214045579206 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1434.8065483270993, + 78.81864667983876, + 3.250214045579206 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1434.8065483270993, + 78.81864667983876, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1436.3065483270993, + 76.22057046848545, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1437.8065483270993, + 73.62249425713213, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1439.3065483270993, + 71.02441804577882, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1440.8065483270993, + 68.4263418344255, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1442.3065483270993, + 65.82826562307218, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1443.8065483270993, + 63.23018941171887, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1445.3065483270993, + 60.63211320036555, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1446.8065483270993, + 58.034036989012236, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1448.3065483270993, + 55.43596077765892, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1449.8065483270993, + 52.837884566305604, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1451.3065483270993, + 50.23980835495229, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1452.8065483270993, + 47.64173214359897, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1454.3065483270993, + 45.043655932245656, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1455.8065483270993, + 42.44557972089234, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1457.3065483270993, + 39.847503509539024, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1458.8065483270993, + 37.24942729818571, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1460.3065483270993, + 34.65135108683239, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1461.8065483270993, + 32.053274875479076, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1463.3065483270993, + 29.45519866412576, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1464.8065483270993, + 26.857122452772444, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1466.3065483270993, + 24.259046241419128, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1467.8065483270993, + 21.660970030065812, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1469.3065483270993, + 19.062893818712496, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1470.8065483270993, + 16.46481760735918, + 3.250214045579206 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1470.8065483270993, + 16.46481760735918, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1473.4046245384527, + 14.96481760735918, + 3.250214045579206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1476.002700749806, + 13.46481760735918, + 3.250214045579206 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-2-48_1312994984/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-2-48_1312994984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37464cac4985861cc0ab00498e1ee91620b0fc1e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-2-48_1312994984/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 181.20489988551873, + 290.4712884685084, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 182.70489988551873, + 287.8732122571551, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 184.20489988551873, + 285.2751360458018, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 185.70489988551873, + 282.67705983444847, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.20489988551873, + 280.07898362309516, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 188.70489988551873, + 277.48090741174184, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 190.20489988551873, + 274.8828312003885, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 191.70489988551873, + 272.2847549890352, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 193.20489988551873, + 269.6866787776819, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 194.70489988551873, + 267.0886025663286, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 196.20489988551873, + 264.49052635497526, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 197.70489988551873, + 261.89245014362194, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 199.20489988551873, + 259.2943739322686, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 200.70489988551873, + 256.6962977209153, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 202.20489988551873, + 254.098221509562, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 203.70489988551873, + 251.50014529820868, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 205.20489988551873, + 248.90206908685536, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 206.70489988551873, + 246.30399287550205, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 208.20489988551873, + 243.70591666414873, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 209.70489988551873, + 241.10784045279541, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 211.20489988551873, + 238.5097642414421, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 212.70489988551873, + 235.91168803008878, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 214.20489988551873, + 233.31361181873547, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 215.70489988551873, + 230.71553560738215, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 217.20489988551873, + 228.11745939602883, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 218.70489988551873, + 225.51938318467552, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 220.20489988551873, + 222.9213069733222, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 221.70489988551873, + 220.3232307619689, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 223.20489988551873, + 217.72515455061557, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 224.70489988551873, + 215.12707833926225, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 226.20489988551873, + 212.52900212790894, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 227.70489988551873, + 209.93092591655562, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 229.20489988551873, + 207.3328497052023, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 230.70489988551873, + 204.734773493849, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 232.20489988551873, + 202.13669728249567, + 4.6537625435840155 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 232.20489988551873, + 202.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 234.80297609687204, + 200.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 237.40105230822536, + 199.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 239.99912851957868, + 197.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 242.597204730932, + 196.13669728249567, + 4.6537625435840155 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 242.597204730932, + 196.13669728249567, + 4.6537625435840155 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 242.597204730932, + 196.13669728249567, + 4.6537625435840155 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 242.597204730932, + 196.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 245.1952809422853, + 197.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 247.79335715363862, + 199.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 250.39143336499194, + 200.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 252.98950957634526, + 202.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 255.58758578769857, + 203.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 258.1856619990519, + 205.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 260.7837382104052, + 206.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 263.3818144217585, + 208.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 265.97989063311184, + 209.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 268.57796684446515, + 211.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 271.17604305581847, + 212.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 273.7741192671718, + 214.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 276.3721954785251, + 215.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 278.9702716898784, + 217.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 281.56834790123173, + 218.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 284.16642411258505, + 220.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 286.76450032393836, + 221.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 289.3625765352917, + 223.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 291.960652746645, + 224.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 294.5587289579983, + 226.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 297.1568051693516, + 227.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 299.75488138070494, + 229.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 302.35295759205826, + 230.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 304.9510338034116, + 232.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 307.5491100147649, + 233.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 310.1471862261182, + 235.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 312.7452624374715, + 236.63669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 315.34333864882484, + 238.13669728249567, + 4.6537625435840155 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 315.34333864882484, + 238.13669728249567, + 4.6537625435840155 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 315.34333864882484, + 238.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 315.34333864882484, + 241.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 315.34333864882484, + 244.13669728249567, + 4.6537625435840155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 315.34333864882484, + 247.13669728249567, + 4.6537625435840155 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-20-59_14989683/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-20-59_14989683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ad60c0a018eeb0245394cd0e094359e9364a76f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-20-59_14989683/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1046.4389095832787, + 274.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1046.4389095832787, + 271.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1046.4389095832787, + 268.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1046.4389095832787, + 265.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1046.4389095832787, + 262.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1046.4389095832787, + 259.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1046.4389095832787, + 256.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1046.4389095832787, + 253.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1046.4389095832787, + 250.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1046.4389095832787, + 247.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1046.4389095832787, + 244.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1046.4389095832787, + 241.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1046.4389095832787, + 238.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1046.4389095832787, + 235.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1046.4389095832787, + 232.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1046.4389095832787, + 229.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1046.4389095832787, + 226.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1046.4389095832787, + 223.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1046.4389095832787, + 220.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1046.4389095832787, + 217.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1046.4389095832787, + 214.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1046.4389095832787, + 211.52894284550723, + 3.2550889575315836 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1046.4389095832787, + 211.52894284550723, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1044.9389095832787, + 208.93086663415392, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1043.4389095832787, + 206.3327904228006, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1041.9389095832787, + 203.73471421144728, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1040.4389095832787, + 201.13663800009397, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1038.9389095832787, + 198.53856178874065, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1037.4389095832787, + 195.94048557738734, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1035.9389095832787, + 193.34240936603402, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1034.4389095832787, + 190.7443331546807, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1032.9389095832787, + 188.1462569433274, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1031.4389095832787, + 185.54818073197407, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1029.9389095832787, + 182.95010452062076, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1028.4389095832787, + 180.35202830926744, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1026.9389095832787, + 177.75395209791412, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1025.4389095832787, + 175.1558758865608, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1023.9389095832787, + 172.5577996752075, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1022.4389095832787, + 169.95972346385417, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1020.9389095832787, + 167.36164725250086, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1019.4389095832787, + 164.76357104114754, + 3.2550889575315836 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1019.4389095832787, + 164.76357104114754, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1016.8408333719253, + 163.26357104114754, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1014.242757160572, + 161.76357104114754, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1011.6446809492186, + 160.26357104114754, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1009.0466047378652, + 158.76357104114754, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1006.4485285265118, + 157.26357104114754, + 3.2550889575315836 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1003.8504523151585, + 155.76357104114754, + 3.2550889575315836 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-24-45_1691449122/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-24-45_1691449122/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a51d83dc62632849629c95e395ad5d5c4aa61fb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-24-45_1691449122/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 77.41538228473874, + -611.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 77.41538228473874, + -614.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 77.41538228473874, + -617.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 77.41538228473874, + -620.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 77.41538228473874, + -623.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 77.41538228473874, + -626.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 77.41538228473874, + -629.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 77.41538228473874, + -632.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 77.41538228473874, + -635.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 77.41538228473874, + -638.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 77.41538228473874, + -641.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 77.41538228473874, + -644.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 77.41538228473874, + -647.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 77.41538228473874, + -650.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 77.41538228473874, + -653.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 77.41538228473874, + -656.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 77.41538228473874, + -659.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 77.41538228473874, + -662.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 77.41538228473874, + -665.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 77.41538228473874, + -668.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 77.41538228473874, + -671.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 77.41538228473874, + -674.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 77.41538228473874, + -677.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 77.41538228473874, + -680.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 77.41538228473874, + -683.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 77.41538228473874, + -686.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 77.41538228473874, + -689.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 77.41538228473874, + -692.3772807067478, + 0.01810279006185933 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 77.41538228473874, + -692.3772807067478, + 0.01810279006185933 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 77.41538228473874, + -692.3772807067478, + 0.01810279006185933 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 77.41538228473874, + -692.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 74.81730607338542, + -693.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 72.21922986203211, + -695.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 69.62115365067879, + -696.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 67.02307743932548, + -698.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 64.42500122797216, + -699.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 61.826925016618844, + -701.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 59.22884880526553, + -702.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 56.63077259391221, + -704.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 54.032696382558896, + -705.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 51.43462017120558, + -707.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 48.836543959852264, + -708.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 46.23846774849895, + -710.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 43.64039153714563, + -711.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 41.042315325792316, + -713.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 38.444239114439, + -714.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 35.846162903085684, + -716.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 33.24808669173237, + -717.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 30.650010480379052, + -719.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 28.051934269025736, + -720.8772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 25.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 25.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 22.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 19.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 16.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 13.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 10.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 7.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 4.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1.45385805767242, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -4.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -7.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -10.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -13.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -16.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -19.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -22.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -25.54614194232758, + -722.3772807067478, + 0.01810279006185933 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-26-49_513937457/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-26-49_513937457/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4df97a3fb39843e3c483060a09e76ce81b61a0d3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-26-49_513937457/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1477.5049714090512, + -1.9714487445968132, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1479.0049714090512, + -4.569524955950129, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1480.5049714090512, + -7.167601167303445, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1482.0049714090512, + -9.765677378656761, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1483.5049714090512, + -12.363753590010077, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1485.0049714090512, + -14.961829801363393, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1486.5049714090512, + -17.55990601271671, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1488.0049714090512, + -20.157982224070025, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1489.5049714090512, + -22.75605843542334, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1491.0049714090512, + -25.354134646776657, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1492.5049714090512, + -27.952210858129973, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1494.0049714090512, + -30.55028706948329, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1495.5049714090512, + -33.148363280836605, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1497.0049714090512, + -35.74643949218992, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1498.5049714090512, + -38.34451570354324, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1500.0049714090512, + -40.94259191489655, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1501.5049714090512, + -43.54066812624987, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1503.0049714090512, + -46.138744337603185, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1504.5049714090512, + -48.7368205489565, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1506.0049714090512, + -51.33489676030982, + 0.8129579989378612 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1506.0049714090512, + -51.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1506.0049714090512, + -54.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1506.0049714090512, + -57.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1506.0049714090512, + -60.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1506.0049714090512, + -63.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1506.0049714090512, + -66.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1506.0049714090512, + -69.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1506.0049714090512, + -72.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1506.0049714090512, + -75.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1506.0049714090512, + -78.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1506.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1506.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1506.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1506.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1506.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1509.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1512.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1515.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1518.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1521.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1524.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1527.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1530.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1533.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1536.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1539.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1542.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1545.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1548.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1551.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1554.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1557.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1560.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1563.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1566.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1569.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1569.0049714090512, + -81.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1571.6030476204046, + -82.83489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1574.201123831758, + -84.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1576.7992000431113, + -85.83489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1579.3972762544647, + -87.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1581.995352465818, + -88.83489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1584.5934286771715, + -90.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1587.1915048885248, + -91.83489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1589.7895810998782, + -93.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1592.3876573112316, + -94.83489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1594.985733522585, + -96.33489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1597.5838097339383, + -97.83489676030982, + 0.8129579989378612 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1600.1818859452917, + -99.33489676030982, + 0.8129579989378612 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-27-21_1738909365/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-27-21_1738909365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2b5e4c84b5a2316f6ec6d51a679bfea8f286546 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-27-21_1738909365/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 902.8760412919844, + -326.96416927602274, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 901.3760412919844, + -329.56224548737606, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 899.8760412919844, + -332.1603216987294, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 898.3760412919844, + -334.7583979100827, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 896.8760412919844, + -337.356474121436, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 895.3760412919844, + -339.9545503327893, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 893.8760412919844, + -342.55262654414264, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 892.3760412919844, + -345.15070275549596, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 890.8760412919844, + -347.7487789668493, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 889.3760412919844, + -350.3468551782026, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 887.8760412919844, + -352.9449313895559, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 886.3760412919844, + -355.5430076009092, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 884.8760412919844, + -358.14108381226254, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 883.3760412919844, + -360.73916002361585, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 881.8760412919844, + -363.33723623496917, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 880.3760412919844, + -365.9353124463225, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 878.8760412919844, + -368.5333886576758, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 877.3760412919844, + -371.1314648690291, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 875.8760412919844, + -373.72954108038243, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 874.3760412919844, + -376.32761729173575, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 872.8760412919844, + -378.92569350308906, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 871.3760412919844, + -381.5237697144424, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 869.8760412919844, + -384.1218459257957, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 868.3760412919844, + -386.719922137149, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 866.8760412919844, + -389.31799834850233, + 4.367464443041779 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 866.8760412919844, + -389.31799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 864.277965080631, + -390.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 861.6798888692776, + -392.31799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 859.0818126579243, + -393.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 856.4837364465709, + -395.31799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 853.8856602352175, + -396.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 851.2875840238642, + -398.31799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 848.6895078125108, + -399.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 846.0914316011574, + -401.31799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 843.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 843.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 843.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 843.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 843.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 843.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "turn left", + "value": 30, + "yaw": -9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 843.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 846.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 849.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 852.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 855.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 858.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 861.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 864.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 867.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 870.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 873.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 876.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 879.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 882.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 885.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 888.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 891.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 894.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 897.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 900.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 903.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 906.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 909.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 912.493355389804, + -402.81799834850233, + 4.367464443041779 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-28-24_1603591171/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-28-24_1603591171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa1b1eb3a113f172855d61fac14f1f92efccf158 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-28-24_1603591171/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 740.656787284722, + 6.303171646396493, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 739.156787284722, + 3.7050954350431766, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 737.656787284722, + 1.1070192236898606, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 736.156787284722, + -1.4910569876634554, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 734.656787284722, + -4.089133199016771, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 733.156787284722, + -6.687209410370087, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 731.656787284722, + -9.285285621723403, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 730.156787284722, + -11.88336183307672, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 728.656787284722, + -14.481438044430035, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 727.156787284722, + -17.07951425578335, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 725.656787284722, + -19.677590467136667, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 724.156787284722, + -22.275666678489983, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 722.656787284722, + -24.8737428898433, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 721.156787284722, + -27.471819101196616, + 3.83605991768861 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 721.156787284722, + -27.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 718.5587110733686, + -28.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 715.9606348620152, + -30.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 713.3625586506619, + -31.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 710.7644824393085, + -33.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 708.1664062279551, + -34.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 705.5683300166017, + -36.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 702.9702538052484, + -37.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 700.372177593895, + -39.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 697.7741013825416, + -40.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 695.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 695.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 695.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 695.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 695.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 695.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "turn left", + "value": 30, + "yaw": -9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 695.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 698.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 701.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 704.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 707.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 710.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 713.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 716.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 719.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 722.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 725.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 728.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 731.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 734.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 737.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 740.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 743.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 743.1760251711883, + -42.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 745.7741013825416, + -40.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 748.372177593895, + -39.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 750.9702538052484, + -37.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 753.5683300166017, + -36.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 756.1664062279551, + -34.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 758.7644824393085, + -33.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 761.3625586506619, + -31.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 763.9606348620152, + -30.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 766.5587110733686, + -28.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 769.156787284722, + -27.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 771.7548634960754, + -25.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 774.3529397074287, + -24.471819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 776.9510159187821, + -22.971819101196616, + 3.83605991768861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 779.5490921301355, + -21.471819101196616, + 3.83605991768861 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-29-58_2013725218/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-29-58_2013725218/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d20d6e251f9b8523c66c7efb9a6fc9402e74befc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-29-58_2013725218/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 897.2055311273522, + -461.7739739620817, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 898.7055311273522, + -459.1758977507284, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 900.2055311273522, + -456.57782153937507, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 901.7055311273522, + -453.97974532802175, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 903.2055311273522, + -451.38166911666843, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 904.7055311273522, + -448.7835929053151, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 906.2055311273522, + -446.1855166939618, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 907.7055311273522, + -443.5874404826085, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 909.2055311273522, + -440.98936427125517, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 910.7055311273522, + -438.39128805990185, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 912.2055311273522, + -435.79321184854854, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 913.7055311273522, + -433.1951356371952, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 915.2055311273522, + -430.5970594258419, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 916.7055311273522, + -427.9989832144886, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 918.2055311273522, + -425.4009070031353, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 919.7055311273522, + -422.80283079178196, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 921.2055311273522, + -420.20475458042864, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 922.7055311273522, + -417.6066783690753, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 924.2055311273522, + -415.008602157722, + 3.556668300410095 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 924.2055311273522, + -415.008602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 926.8036073387054, + -413.508602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 929.4016835500588, + -412.008602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 931.9997597614122, + -410.508602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 934.5978359727656, + -409.008602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 937.1959121841189, + -407.508602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 939.7939883954723, + -406.008602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 942.3920646068257, + -404.508602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 944.990140818179, + -403.008602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 947.5882170295324, + -401.508602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 950.1862932408858, + -400.008602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 952.7843694522392, + -398.508602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 955.3824456635925, + -397.008602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 957.9805218749459, + -395.508602157722, + 3.556668300410095 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 957.9805218749459, + -395.508602157722, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 959.4805218749459, + -392.9105259463687, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 960.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 960.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 960.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 960.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 960.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 960.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 957.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 954.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 951.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 948.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 945.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 942.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 939.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 936.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 933.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 930.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 927.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 924.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 921.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 918.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 915.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 912.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 909.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 906.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 903.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 900.9805218749459, + -390.3124497350154, + 3.556668300410095 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-32-45_733450907/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-32-45_733450907/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7796abad6d43b2537c90162fa3d98c2ed0fe419 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-32-45_733450907/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1433.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1430.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1427.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1424.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1421.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1418.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1415.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1412.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1409.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1406.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1403.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1400.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1397.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1394.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1391.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1388.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1385.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1382.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1379.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1376.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1373.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1373.4498115055512, + 224.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1370.8517352941979, + 223.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1368.2536590828445, + 221.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1365.655582871491, + 220.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1363.0575066601377, + 218.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1360.4594304487844, + 217.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1357.861354237431, + 215.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1355.2632780260776, + 214.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1352.6652018147242, + 212.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1350.0671256033709, + 211.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1347.4690493920175, + 209.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1344.8709731806641, + 208.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1342.2728969693108, + 206.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1339.6748207579574, + 205.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1337.076744546604, + 203.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1334.4786683352506, + 202.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1331.8805921238973, + 200.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1329.2825159125439, + 199.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1326.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1326.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1323.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1320.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1323.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1326.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1329.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1329.6844397011905, + 197.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1332.2825159125439, + 196.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1334.8805921238973, + 194.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1337.4786683352506, + 193.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1340.076744546604, + 191.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1342.6748207579574, + 190.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1345.2728969693108, + 188.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1347.8709731806641, + 187.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1350.4690493920175, + 185.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1353.0671256033709, + 184.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1355.6652018147242, + 182.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1358.2632780260776, + 181.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1360.861354237431, + 179.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1363.4594304487844, + 178.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1366.0575066601377, + 176.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1368.655582871491, + 175.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1371.2536590828445, + 173.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1373.8517352941979, + 172.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1376.4498115055512, + 170.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1379.0478877169046, + 169.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1381.645963928258, + 167.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1384.2440401396113, + 166.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1386.8421163509647, + 164.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1389.440192562318, + 163.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1392.0382687736715, + 161.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1394.6363449850248, + 160.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1397.2344211963782, + 158.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1399.8324974077316, + 157.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1402.430573619085, + 155.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1405.0286498304383, + 154.10409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 1407.6267260417917, + 152.60409945777096, + -2.301077504349794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 1410.224802253145, + 151.10409945777096, + -2.301077504349794 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-34-0_980356728/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-34-0_980356728/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee90e96db500f2e6fa7fa159682400e795c96361 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-34-0_980356728/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -314.38597032371973, + -46.52505302415723, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -312.88597032371973, + -43.926976812803915, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -311.38597032371973, + -41.3289006014506, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -309.88597032371973, + -38.73082439009728, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -308.38597032371973, + -36.13274817874397, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -306.88597032371973, + -33.53467196739065, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -305.38597032371973, + -30.936595756037335, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -303.88597032371973, + -28.33851954468402, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -302.38597032371973, + -25.740443333330703, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -300.88597032371973, + -23.142367121977387, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -299.38597032371973, + -20.54429091062407, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -297.88597032371973, + -17.946214699270755, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -296.38597032371973, + -15.348138487917439, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -294.88597032371973, + -12.750062276564122, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -293.38597032371973, + -10.151986065210806, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -291.88597032371973, + -7.5539098538574905, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -290.38597032371973, + -4.9558336425041745, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -288.88597032371973, + -2.3577574311508585, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -287.38597032371973, + 0.24031878020245756, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -285.88597032371973, + 2.8383949915557736, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -284.38597032371973, + 5.43647120290909, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -282.88597032371973, + 8.034547414262406, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -281.38597032371973, + 10.632623625615722, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -279.88597032371973, + 13.230699836969038, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -278.38597032371973, + 15.828776048322354, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -276.88597032371973, + 18.42685225967567, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -275.38597032371973, + 21.024928471028986, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -273.88597032371973, + 23.6230046823823, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -272.38597032371973, + 26.221080893735618, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -270.88597032371973, + 28.819157105088934, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -269.38597032371973, + 31.41723331644225, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -267.88597032371973, + 34.015309527795566, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -266.38597032371973, + 36.61338573914888, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -264.88597032371973, + 39.2114619505022, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -263.38597032371973, + 41.809538161855514, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -261.88597032371973, + 44.40761437320883, + 0.9833795589231009 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -261.88597032371973, + 44.40761437320883, + 0.9833795589231009 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -261.88597032371973, + 44.40761437320883, + 0.9833795589231009 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -261.88597032371973, + 44.40761437320883, + 0.9833795589231009 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -261.88597032371973, + 44.40761437320883, + 0.9833795589231009 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -261.88597032371973, + 44.40761437320883, + 0.9833795589231009 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -261.88597032371973, + 44.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -261.88597032371973, + 41.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -261.88597032371973, + 38.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -261.88597032371973, + 35.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -261.88597032371973, + 32.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -261.88597032371973, + 29.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -261.88597032371973, + 26.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -261.88597032371973, + 23.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -261.88597032371973, + 20.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -261.88597032371973, + 17.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -261.88597032371973, + 14.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -261.88597032371973, + 11.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -261.88597032371973, + 8.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -261.88597032371973, + 5.40761437320883, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -261.88597032371973, + 2.4076143732088298, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -261.88597032371973, + -0.5923856267911702, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -261.88597032371973, + -3.5923856267911702, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -261.88597032371973, + -6.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -261.88597032371973, + -9.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -261.88597032371973, + -12.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -261.88597032371973, + -15.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -261.88597032371973, + -18.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -261.88597032371973, + -21.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -261.88597032371973, + -24.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -261.88597032371973, + -27.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -261.88597032371973, + -30.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -261.88597032371973, + -33.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -261.88597032371973, + -36.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -261.88597032371973, + -39.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -261.88597032371973, + -42.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -261.88597032371973, + -45.59238562679117, + 0.9833795589231009 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -261.88597032371973, + -45.59238562679117, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -260.38597032371973, + -48.190461838144486, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -258.88597032371973, + -50.7885380494978, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -257.38597032371973, + -53.38661426085112, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -255.88597032371973, + -55.984690472204434, + 0.9833795589231009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -254.38597032371973, + -58.58276668355775, + 0.9833795589231009 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-36-12_1289547084/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-36-12_1289547084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..996309ddbd3d31f2cde8912620f2f9a08ea0a760 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-36-12_1289547084/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1315.405524633532, + 300.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1312.8074484221786, + 298.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1310.2093722108252, + 297.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1307.6112959994718, + 295.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1305.0132197881185, + 294.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1302.415143576765, + 292.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1299.8170673654117, + 291.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1297.2189911540584, + 289.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1294.620914942705, + 288.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1292.0228387313516, + 286.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1289.4247625199982, + 285.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1286.8266863086449, + 283.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1284.2286100972915, + 282.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1281.6305338859381, + 280.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1279.0324576745847, + 279.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1276.4343814632314, + 277.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1273.836305251878, + 276.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1271.2382290405246, + 274.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1268.6401528291713, + 273.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1266.0420766178179, + 271.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1263.4440004064645, + 270.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1260.8459241951111, + 268.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1258.2478479837578, + 267.200877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1255.6497717724044, + 265.700877777213, + 4.790070898963073 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1255.6497717724044, + 265.700877777213, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1254.1497717724044, + 263.1028015658597, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1252.6497717724044, + 260.5047253545064, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1251.1497717724044, + 257.90664914315306, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1249.6497717724044, + 255.30857293179974, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1248.1497717724044, + 252.71049672044643, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1246.6497717724044, + 250.1124205090931, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1245.1497717724044, + 247.5143442977398, + 4.790070898963073 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1245.1497717724044, + 247.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1245.1497717724044, + 244.5143442977398, + 4.790070898963073 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1245.1497717724044, + 244.5143442977398, + 4.790070898963073 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1245.1497717724044, + 244.5143442977398, + 4.790070898963073 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1245.1497717724044, + 244.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1247.7478479837578, + 243.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1250.3459241951111, + 241.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1252.9440004064645, + 240.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1255.5420766178179, + 238.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1258.1401528291713, + 237.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1260.7382290405246, + 235.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1263.336305251878, + 234.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1265.9343814632314, + 232.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1268.5324576745847, + 231.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1271.1305338859381, + 229.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1273.7286100972915, + 228.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1276.3266863086449, + 226.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1278.9247625199982, + 225.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1281.5228387313516, + 223.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1284.120914942705, + 222.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1286.7189911540584, + 220.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1289.3170673654117, + 219.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1291.915143576765, + 217.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1294.5132197881185, + 216.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1297.1112959994718, + 214.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1299.7093722108252, + 213.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1302.3074484221786, + 211.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1304.905524633532, + 210.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1307.5036008448853, + 208.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1310.1016770562387, + 207.0143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1312.699753267592, + 205.5143442977398, + 4.790070898963073 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1312.699753267592, + 205.5143442977398, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1314.199753267592, + 202.91626808638648, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1315.699753267592, + 200.31819187503316, + 4.790070898963073 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1317.199753267592, + 197.72011566367985, + 4.790070898963073 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-37-21_174515334/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-37-21_174515334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..895e405fe3147bb9afcb9549556392c63c14bccb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-37-21_174515334/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1230.0332472078978, + -331.53365155046913, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1231.5332472078978, + -328.9355753391158, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1233.0332472078978, + -326.3374991277625, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1234.5332472078978, + -323.7394229164092, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1236.0332472078978, + -321.14134670505587, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1237.5332472078978, + -318.54327049370255, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1239.0332472078978, + -315.94519428234923, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1240.5332472078978, + -313.3471180709959, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1242.0332472078978, + -310.7490418596426, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1243.5332472078978, + -308.1509656482893, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1245.0332472078978, + -305.55288943693597, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1246.5332472078978, + -302.95481322558265, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1248.0332472078978, + -300.35673701422934, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1249.5332472078978, + -297.758660802876, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1251.0332472078978, + -295.1605845915227, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1252.5332472078978, + -292.5625083801694, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1254.0332472078978, + -289.9644321688161, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1255.5332472078978, + -287.36635595746276, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1257.0332472078978, + -284.76827974610944, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1258.5332472078978, + -282.1702035347561, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1260.0332472078978, + -279.5721273234028, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1261.5332472078978, + -276.9740511120495, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1263.0332472078978, + -274.3759749006962, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1264.5332472078978, + -271.77789868934286, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1266.0332472078978, + -269.17982247798955, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1267.5332472078978, + -266.58174626663623, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1269.0332472078978, + -263.9836700552829, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1270.5332472078978, + -261.3855938439296, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1272.0332472078978, + -258.7875176325763, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1273.5332472078978, + -256.18944142122297, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1275.0332472078978, + -253.59136520986965, + -0.7501279333106545 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1275.0332472078978, + -253.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1275.0332472078978, + -250.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1275.0332472078978, + -247.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1275.0332472078978, + -244.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1275.0332472078978, + -241.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1275.0332472078978, + -238.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1275.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1275.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1275.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1275.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1275.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1278.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1281.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1284.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1287.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1290.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1293.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1296.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1299.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1302.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1305.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1308.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1311.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1311.0332472078978, + -235.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1313.6313234192512, + -234.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1316.2293996306046, + -232.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1318.827475841958, + -231.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1321.4255520533113, + -229.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1324.0236282646647, + -228.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1326.621704476018, + -226.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1329.2197806873714, + -225.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1331.8178568987248, + -223.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1334.4159331100782, + -222.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1337.0140093214316, + -220.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1339.612085532785, + -219.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1342.2101617441383, + -217.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1344.8082379554917, + -216.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1347.406314166845, + -214.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1350.0043903781984, + -213.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1352.6024665895518, + -211.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1355.2005428009052, + -210.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1357.7986190122585, + -208.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1360.396695223612, + -207.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1362.9947714349653, + -205.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1365.5928476463187, + -204.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1368.190923857672, + -202.59136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1370.7890000690254, + -201.09136520986965, + -0.7501279333106545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1373.3870762803788, + -199.59136520986965, + -0.7501279333106545 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-38-36_294110991/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-38-36_294110991/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11c73c97d064d1be3c9fc8f36e2e2f1f2823fdb0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-38-36_294110991/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -258.1268517355363, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -255.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -252.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -249.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -246.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -243.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -240.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -237.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -234.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -231.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -228.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -225.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -222.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -219.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -216.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -213.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -210.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -207.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -204.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -201.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -198.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -195.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -192.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -189.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -186.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -183.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -180.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -177.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -174.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -171.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -168.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -165.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -162.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -159.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -159.12685173553632, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -156.528775524183, + -232.66023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -153.9306993128297, + -234.16023063781276, + 4.065212289196415 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -153.9306993128297, + -234.16023063781276, + 4.065212289196415 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -153.9306993128297, + -234.16023063781276, + 4.065212289196415 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -153.9306993128297, + -234.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -151.33262310147637, + -232.66023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -148.73454689012306, + -231.16023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -146.13647067876974, + -229.66023063781276, + 4.065212289196415 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -146.13647067876974, + -229.66023063781276, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -144.63647067876974, + -227.06215442645944, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -143.13647067876974, + -224.46407821510613, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -141.63647067876974, + -221.8660020037528, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -140.13647067876974, + -219.2679257923995, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -138.63647067876974, + -216.66984958104618, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -137.13647067876974, + -214.07177336969286, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -135.63647067876974, + -211.47369715833955, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -134.13647067876974, + -208.87562094698623, + 4.065212289196415 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -134.13647067876974, + -208.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -134.13647067876974, + -205.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -134.13647067876974, + -202.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -134.13647067876974, + -199.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -134.13647067876974, + -196.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -134.13647067876974, + -193.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -134.13647067876974, + -190.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -134.13647067876974, + -187.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -134.13647067876974, + -184.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -134.13647067876974, + -181.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -134.13647067876974, + -178.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -134.13647067876974, + -175.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -134.13647067876974, + -172.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -134.13647067876974, + -169.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -134.13647067876974, + -166.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -134.13647067876974, + -163.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -134.13647067876974, + -160.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -134.13647067876974, + -157.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -134.13647067876974, + -154.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -134.13647067876974, + -151.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -134.13647067876974, + -148.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -134.13647067876974, + -145.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -134.13647067876974, + -142.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -134.13647067876974, + -139.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -134.13647067876974, + -136.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -134.13647067876974, + -133.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -134.13647067876974, + -130.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -134.13647067876974, + -127.87562094698623, + 4.065212289196415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -134.13647067876974, + -124.87562094698623, + 4.065212289196415 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-41-29_452825171/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-41-29_452825171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc4025bfd15fc63e916a3c532691c57f5550e207 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-41-29_452825171/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -13.680650829057885, + -244.21827255737324, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.680650829057885, + -247.21827255737324, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -13.680650829057885, + -250.21827255737324, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -13.680650829057885, + -253.21827255737324, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -13.680650829057885, + -256.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -13.680650829057885, + -259.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -13.680650829057885, + -262.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -13.680650829057885, + -265.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -13.680650829057885, + -268.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -13.680650829057885, + -271.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -13.680650829057885, + -274.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -13.680650829057885, + -277.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -13.680650829057885, + -280.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -13.680650829057885, + -283.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -13.680650829057885, + -286.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -13.680650829057885, + -289.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -13.680650829057885, + -292.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -13.680650829057885, + -295.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -13.680650829057885, + -298.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -13.680650829057885, + -301.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -13.680650829057885, + -304.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -13.680650829057885, + -307.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -13.680650829057885, + -310.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -13.680650829057885, + -313.2182725573732, + 3.3339590236268677 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -13.680650829057885, + -313.2182725573732, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.180650829057885, + -315.8163487687265, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -16.680650829057885, + -318.41442498007984, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -18.180650829057885, + -321.01250119143316, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -19.680650829057885, + -323.6105774027865, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -21.180650829057885, + -326.2086536141398, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -22.680650829057885, + -328.8067298254931, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -24.180650829057885, + -331.4048060368464, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -25.680650829057885, + -334.00288224819974, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -27.180650829057885, + -336.60095845955306, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -28.680650829057885, + -339.19903467090637, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -30.180650829057885, + -341.7971108822597, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -31.680650829057885, + -344.395187093613, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -33.18065082905788, + -346.9932633049663, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -34.68065082905788, + -349.59133951631964, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -36.18065082905788, + -352.18941572767295, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -37.68065082905788, + -354.78749193902627, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -39.18065082905788, + -357.3855681503796, + 3.3339590236268677 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -39.18065082905788, + -357.3855681503796, + 3.3339590236268677 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -39.18065082905788, + -357.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -41.7787270404112, + -358.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -44.376803251764514, + -360.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -46.97487946311783, + -361.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -49.572955674471146, + -363.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -52.17103188582446, + -364.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -54.76910809717778, + -366.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -57.367184308531094, + -367.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -59.96526051988441, + -369.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -62.563336731237726, + -370.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -65.16141294259104, + -372.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -67.75948915394436, + -373.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -70.35756536529767, + -375.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -72.95564157665099, + -376.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -75.5537177880043, + -378.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -78.15179399935762, + -379.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -80.74987021071094, + -381.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -83.34794642206425, + -382.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -85.94602263341757, + -384.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -88.54409884477089, + -385.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -91.1421750561242, + -387.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -93.74025126747752, + -388.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -96.33832747883083, + -390.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -98.93640369018415, + -391.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -101.53447990153747, + -393.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -104.13255611289078, + -394.8855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -106.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -106.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -109.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -112.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -115.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -118.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -121.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -124.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -127.7306323242441, + -396.3855681503796, + 3.3339590236268677 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-44-27_1649709016/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-44-27_1649709016/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c753b578f07e6d9c77476889b7ea736be76bcf1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-44-27_1649709016/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 273.82241709588476, + -316.756068689733, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 272.32241709588476, + -314.1579924783797, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 270.82241709588476, + -311.5599162670264, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.32241709588476, + -308.96184005567306, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 267.82241709588476, + -306.36376384431975, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 266.32241709588476, + -303.76568763296643, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 264.82241709588476, + -301.1676114216131, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 263.32241709588476, + -298.5695352102598, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 261.82241709588476, + -295.9714589989065, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 260.32241709588476, + -293.37338278755317, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 258.82241709588476, + -290.77530657619985, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 257.32241709588476, + -288.17723036484654, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 255.82241709588476, + -285.5791541534932, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 254.32241709588476, + -282.9810779421399, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 252.82241709588476, + -280.3830017307866, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 251.32241709588476, + -277.7849255194333, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 249.82241709588476, + -275.18684930807996, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 248.32241709588476, + -272.58877309672664, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 246.82241709588476, + -269.9906968853733, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 245.32241709588476, + -267.39262067402, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 243.82241709588476, + -264.7945444626667, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 242.32241709588476, + -262.1964682513134, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 240.82241709588476, + -259.59839203996006, + -1.8658797862533123 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 240.82241709588476, + -259.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 240.82241709588476, + -256.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 240.82241709588476, + -253.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 240.82241709588476, + -250.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 240.82241709588476, + -247.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 240.82241709588476, + -244.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 240.82241709588476, + -241.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 240.82241709588476, + -238.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 240.82241709588476, + -235.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 240.82241709588476, + -232.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 240.82241709588476, + -229.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 240.82241709588476, + -226.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 240.82241709588476, + -223.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 240.82241709588476, + -220.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 240.82241709588476, + -217.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 240.82241709588476, + -214.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 240.82241709588476, + -211.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 240.82241709588476, + -208.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 240.82241709588476, + -205.59839203996006, + -1.8658797862533123 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 240.82241709588476, + -205.59839203996006, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 242.32241709588476, + -203.00031582860674, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 243.82241709588476, + -200.40223961725343, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 245.32241709588476, + -197.8041634059001, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 246.82241709588476, + -195.2060871945468, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 248.32241709588476, + -192.60801098319348, + -1.8658797862533123 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 248.32241709588476, + -192.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 250.92049330723808, + -191.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 253.5185695185914, + -189.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 256.1166457299447, + -188.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 258.714721941298, + -186.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 261.31279815265134, + -185.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 263.91087436400466, + -183.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 266.50895057535797, + -182.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 269.1070267867113, + -180.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 271.7051029980646, + -179.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 274.3031792094179, + -177.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 276.90125542077124, + -176.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 279.49933163212455, + -174.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 282.09740784347787, + -173.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 284.6954840548312, + -171.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 287.2935602661845, + -170.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 289.8916364775378, + -168.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 292.48971268889113, + -167.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 295.08778890024445, + -165.60801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 297.68586511159776, + -164.10801098319348, + -1.8658797862533123 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 297.68586511159776, + -164.10801098319348, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 299.18586511159776, + -161.50993477184016, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 300.68586511159776, + -158.91185856048685, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 302.18586511159776, + -156.31378234913353, + -1.8658797862533123 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 303.68586511159776, + -153.71570613778022, + -1.8658797862533123 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-48-5_972058109/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-48-5_972058109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0a5afb32004627489e264c148ed1230de7c1e32 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-48-5_972058109/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 681.0409082534567, + 27.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 681.0409082534567, + 24.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 681.0409082534567, + 21.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 681.0409082534567, + 18.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 681.0409082534567, + 15.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 681.0409082534567, + 12.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 681.0409082534567, + 9.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 681.0409082534567, + 6.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 681.0409082534567, + 3.808481245218445, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 681.0409082534567, + 0.8084812452184451, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 681.0409082534567, + -2.191518754781555, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 681.0409082534567, + -5.191518754781555, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 681.0409082534567, + -8.191518754781555, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 681.0409082534567, + -11.191518754781555, + -4.40550195216473 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 681.0409082534567, + -11.191518754781555, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 679.5409082534567, + -13.789594966134871, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 678.0409082534567, + -16.387671177488187, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 676.5409082534567, + -18.985747388841503, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 675.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 675.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 675.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 675.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 675.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 675.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 678.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 681.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 684.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 687.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 690.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 693.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 696.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 699.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 702.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 705.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 708.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 711.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 714.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 717.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 720.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 723.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 726.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 729.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 732.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 735.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 738.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 741.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 744.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 747.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 750.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 753.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 756.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 759.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 762.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 765.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 768.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 771.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 774.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 777.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 780.0409082534567, + -21.58382360019482, + -4.40550195216473 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-49-33_931489114/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-49-33_931489114/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d13ac2cb2171bb61ceacc0047b46f136d5e01d7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-49-33_931489114/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 397.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 400.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 406.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 409.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 412.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 415.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 418.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 421.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 424.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 430.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 433.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 439.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 442.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 445.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 448.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 451.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 457.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 460.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 463.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 466.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 469.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 472.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 475.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 478.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 481.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 484.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 487.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 487.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 487.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 489.15639959886164, + -383.4147897577726, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 490.65639959886164, + -386.0128659691259, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 492.15639959886164, + -388.61094218047924, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 493.65639959886164, + -391.20901839183256, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 492.15639959886164, + -388.61094218047924, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 490.65639959886164, + -386.0128659691259, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 489.15639959886164, + -383.4147897577726, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 487.65639959886164, + -380.8167135464193, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 486.15639959886164, + -378.218637335066, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 484.65639959886164, + -375.62056112371266, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 483.15639959886164, + -373.02248491235935, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 481.65639959886164, + -370.42440870100603, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 480.15639959886164, + -367.8263324896527, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 478.65639959886164, + -365.2282562782994, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 477.15639959886164, + -362.6301800669461, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 475.65639959886164, + -360.03210385559277, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 474.15639959886164, + -357.43402764423945, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 472.65639959886164, + -354.83595143288613, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 471.15639959886164, + -352.2378752215328, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 469.65639959886164, + -349.6397990101795, + 4.116606665310169 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 469.65639959886164, + -349.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 469.65639959886164, + -346.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 469.65639959886164, + -343.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 469.65639959886164, + -340.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 469.65639959886164, + -337.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 469.65639959886164, + -334.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 469.65639959886164, + -331.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 469.65639959886164, + -328.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 469.65639959886164, + -325.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 469.65639959886164, + -322.6397990101795, + 4.116606665310169 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 469.65639959886164, + -319.6397990101795, + 4.116606665310169 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-50-14_11671338/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-50-14_11671338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af5fd6e6f65986b8c1e849494d37584bb2edfbb8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-50-14_11671338/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 654.8613174771698, + 132.94140985558403, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 653.3613174771698, + 130.3433336442307, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 651.8613174771698, + 127.7452574328774, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 650.3613174771698, + 125.14718122152408, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 648.8613174771698, + 122.54910501017076, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 647.3613174771698, + 119.95102879881745, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 645.8613174771698, + 117.35295258746413, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 644.3613174771698, + 114.75487637611081, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 642.8613174771698, + 112.1568001647575, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 641.3613174771698, + 109.55872395340418, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 639.8613174771698, + 106.96064774205087, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 638.3613174771698, + 104.36257153069755, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 636.8613174771698, + 101.76449531934423, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 635.3613174771698, + 99.16641910799092, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 633.8613174771698, + 96.5683428966376, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 632.3613174771698, + 93.97026668528429, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 630.8613174771698, + 91.37219047393097, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 629.3613174771698, + 88.77411426257765, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 627.8613174771698, + 86.17603805122434, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 626.3613174771698, + 83.57796183987102, + -0.9297798345344095 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 626.3613174771698, + 83.57796183987102, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 626.3613174771698, + 80.57796183987102, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 626.3613174771698, + 77.57796183987102, + -0.9297798345344095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 626.3613174771698, + 77.57796183987102, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 627.8613174771698, + 74.9798856285177, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 629.3613174771698, + 72.38180941716439, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 630.8613174771698, + 69.78373320581107, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 632.3613174771698, + 67.18565699445776, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 633.8613174771698, + 64.58758078310444, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 635.3613174771698, + 61.98950457175113, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 636.8613174771698, + 59.39142836039781, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 638.3613174771698, + 56.793352149044495, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 639.8613174771698, + 54.19527593769118, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 641.3613174771698, + 51.59719972633786, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 642.8613174771698, + 48.99912351498455, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 644.3613174771698, + 46.40104730363123, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 645.8613174771698, + 43.802971092277915, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 647.3613174771698, + 41.2048948809246, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 648.8613174771698, + 38.60681866957128, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 650.3613174771698, + 36.00874245821797, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 651.8613174771698, + 33.41066624686465, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 653.3613174771698, + 30.812590035511334, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 654.8613174771698, + 28.21451382415802, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 656.3613174771698, + 25.616437612804702, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 657.8613174771698, + 23.018361401451386, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 659.3613174771698, + 20.42028519009807, + -0.9297798345344095 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 659.3613174771698, + 20.42028519009807, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 659.3613174771698, + 17.42028519009807, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 659.3613174771698, + 14.42028519009807, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 659.3613174771698, + 11.42028519009807, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 659.3613174771698, + 8.42028519009807, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 659.3613174771698, + 5.42028519009807, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 659.3613174771698, + 2.4202851900980704, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 659.3613174771698, + -0.5797148099019296, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 659.3613174771698, + -3.5797148099019296, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 659.3613174771698, + -6.57971480990193, + -0.9297798345344095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 659.3613174771698, + -9.57971480990193, + -0.9297798345344095 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-50-42_1395405989/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-50-42_1395405989/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d723aef23d7f0601b51d76e578962d8e511c4444 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-50-42_1395405989/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 8.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 14.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 17.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 20.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 23.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 26.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 26.106974499545416, + 9.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 28.705050710898732, + 10.713341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 31.303126922252048, + 12.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 33.901203133605364, + 13.713341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 36.49927934495868, + 15.213341722688469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 39.097355556311996, + 16.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 41.69543176766531, + 18.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 44.29350797901863, + 19.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 46.891584190371944, + 21.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 49.48966040172526, + 22.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 52.087736613078576, + 24.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.68581282443189, + 25.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 57.28388903578521, + 27.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 59.881965247138524, + 28.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 62.48004145849184, + 30.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.07811766984516, + 31.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 67.67619388119847, + 33.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 70.27427009255179, + 34.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 72.8723463039051, + 36.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 75.47042251525842, + 37.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 78.06849872661174, + 39.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 80.66657493796505, + 40.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 83.26465114931837, + 42.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 85.86272736067168, + 43.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 88.460803572025, + 45.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 91.05887978337832, + 46.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 93.65695599473163, + 48.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 96.25503220608495, + 49.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 98.85310841743826, + 51.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 101.45118462879158, + 52.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 104.0492608401449, + 54.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 106.64733705149821, + 55.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 109.24541326285153, + 57.21334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 111.84348947420484, + 58.71334172268847, + 1.820374559947922 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 111.84348947420484, + 58.71334172268847, + 1.820374559947922 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 111.84348947420484, + 58.71334172268847, + 1.820374559947922 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 111.84348947420484, + 58.71334172268847, + 1.820374559947922 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 111.84348947420484, + 58.71334172268847, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 110.34348947420484, + 61.311417934041785, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 108.84348947420484, + 63.9094941453951, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 107.34348947420484, + 66.50757035674842, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 105.84348947420484, + 69.10564656810173, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 104.34348947420484, + 71.70372277945505, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 102.84348947420484, + 74.30179899080836, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 101.34348947420484, + 76.89987520216168, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 99.84348947420484, + 79.497951413515, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 98.34348947420484, + 82.09602762486831, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 96.84348947420484, + 84.69410383622163, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 95.34348947420484, + 87.29218004757494, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 93.84348947420484, + 89.89025625892826, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 92.34348947420484, + 92.48833247028158, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 90.84348947420484, + 95.0864086816349, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 89.34348947420484, + 97.68448489298821, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 87.84348947420484, + 100.28256110434153, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 86.34348947420484, + 102.88063731569484, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 84.84348947420484, + 105.47871352704816, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 83.34348947420484, + 108.07678973840147, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 81.84348947420484, + 110.67486594975479, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 80.34348947420484, + 113.2729421611081, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 78.84348947420484, + 115.87101837246142, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 77.34348947420484, + 118.46909458381474, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 75.84348947420484, + 121.06717079516805, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 74.34348947420484, + 123.66524700652137, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 72.84348947420484, + 126.26332321787469, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 71.34348947420484, + 128.86139942922802, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 69.84348947420484, + 131.45947564058133, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 68.34348947420484, + 134.05755185193465, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 66.84348947420484, + 136.65562806328796, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 65.34348947420484, + 139.25370427464128, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 63.843489474204844, + 141.8517804859946, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 62.343489474204844, + 144.4498566973479, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 60.843489474204844, + 147.04793290870123, + 1.820374559947922 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 60.843489474204844, + 147.04793290870123, + 1.820374559947922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 60.843489474204844, + 150.04793290870123, + 1.820374559947922 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-53-19_1675575223/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-53-19_1675575223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07557f34659d67478a25e9c1eda19d0179f39ed1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-53-19_1675575223/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -24.12504277849945, + -261.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -26.723118989852765, + -262.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -29.32119520120608, + -264.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -31.919271412559397, + -265.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -34.51734762391271, + -267.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -37.11542383526603, + -268.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.713500046619345, + -270.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.31157625797266, + -271.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -44.90965246932598, + -273.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -47.50772868067929, + -274.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -50.10580489203261, + -276.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -52.703881103385925, + -277.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -55.30195731473924, + -279.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -57.90003352609256, + -280.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -60.49810973744587, + -282.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -63.09618594879919, + -283.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -65.6942621601525, + -285.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -68.29233837150582, + -286.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -70.89041458285914, + -288.40587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -73.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -73.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -76.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -79.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -82.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -85.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -88.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -91.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -94.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -97.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -100.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -103.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -106.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -109.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -112.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -115.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -118.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -121.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -121.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -121.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -121.48849079421245, + -289.90587866110815, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -119.98849079421245, + -292.50395487246146, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -118.48849079421245, + -295.1020310838148, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -116.98849079421245, + -297.7001072951681, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -115.48849079421245, + -300.2981835065214, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -113.98849079421245, + -302.8962597178747, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -112.48849079421245, + -305.49433592922804, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -110.98849079421245, + -308.09241214058136, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -109.48849079421245, + -310.6904883519347, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -107.98849079421245, + -313.288564563288, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -106.48849079421245, + -315.8866407746413, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -104.98849079421245, + -318.4847169859946, + 2.0468668712287217 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -104.98849079421245, + -318.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -102.39041458285914, + -319.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -99.79233837150582, + -321.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -97.1942621601525, + -322.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -94.59618594879919, + -324.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -91.99810973744587, + -325.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -89.40003352609256, + -327.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -86.80195731473924, + -328.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -84.20388110338592, + -330.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -81.60580489203261, + -331.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -79.00772868067929, + -333.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -76.40965246932598, + -334.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -73.81157625797266, + -336.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -71.21350004661934, + -337.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -68.61542383526603, + -339.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -66.01734762391271, + -340.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -63.4192714125594, + -342.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -60.82119520120608, + -343.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -58.223118989852765, + -345.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -55.62504277849945, + -346.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -53.02696656714613, + -348.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -50.42889035579282, + -349.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -47.8308141444395, + -351.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -45.232737933086185, + -352.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -42.63466172173287, + -354.4847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -40.03658551037955, + -355.9847169859946, + 2.0468668712287217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -37.43850929902624, + -357.4847169859946, + 2.0468668712287217 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-55-2_1954696532/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-55-2_1954696532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3d5420857a4c88ea25d8a949a1b7ca8ed1d4b90 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-55-2_1954696532/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 635.3910575406006, + 146.16039380081182, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 633.8910575406006, + 143.5623175894585, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 632.3910575406006, + 140.96424137810519, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 630.8910575406006, + 138.36616516675187, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 629.3910575406006, + 135.76808895539855, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 627.8910575406006, + 133.17001274404524, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 626.3910575406006, + 130.57193653269192, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 624.8910575406006, + 127.9738603213386, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 623.3910575406006, + 125.37578410998529, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 621.8910575406006, + 122.77770789863197, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 620.3910575406006, + 120.17963168727866, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 618.8910575406006, + 117.58155547592534, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 617.3910575406006, + 114.98347926457203, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 615.8910575406006, + 112.38540305321871, + 4.557323430811074 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 615.8910575406006, + 112.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 615.8910575406006, + 109.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 615.8910575406006, + 106.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 615.8910575406006, + 103.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 615.8910575406006, + 100.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 615.8910575406006, + 97.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 615.8910575406006, + 94.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 615.8910575406006, + 91.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 615.8910575406006, + 88.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 615.8910575406006, + 85.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 615.8910575406006, + 82.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 615.8910575406006, + 79.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 615.8910575406006, + 76.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 615.8910575406006, + 73.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 615.8910575406006, + 70.38540305321871, + 4.557323430811074 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 615.8910575406006, + 70.38540305321871, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 617.3910575406006, + 67.7873268418654, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 618.8910575406006, + 65.18925063051208, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 620.3910575406006, + 62.59117441915876, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 621.8910575406006, + 59.993098207805446, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 623.3910575406006, + 57.39502199645213, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 624.8910575406006, + 54.79694578509881, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 626.3910575406006, + 52.1988695737455, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 627.8910575406006, + 49.60079336239218, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 629.3910575406006, + 47.002717151038865, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 630.8910575406006, + 44.40464093968555, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 632.3910575406006, + 41.80656472833223, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 633.8910575406006, + 39.20848851697892, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 635.3910575406006, + 36.6104123056256, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 636.8910575406006, + 34.012336094272285, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 638.3910575406006, + 31.41425988291897, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 639.8910575406006, + 28.816183671565653, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 641.3910575406006, + 26.218107460212337, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 642.8910575406006, + 23.62003124885902, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 644.3910575406006, + 21.021955037505705, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 645.8910575406006, + 18.42387882615239, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 647.3910575406006, + 15.825802614799073, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 648.8910575406006, + 13.227726403445757, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 650.3910575406006, + 10.629650192092441, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 651.8910575406006, + 8.031573980739125, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 653.3910575406006, + 5.433497769385809, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 654.8910575406006, + 2.8354215580324933, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 656.3910575406006, + 0.23734534667917728, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 657.8910575406006, + -2.3607308646741387, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 659.3910575406006, + -4.958807076027455, + 4.557323430811074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 660.8910575406006, + -7.556883287380771, + 4.557323430811074 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-57-19_1131884850/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-57-19_1131884850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e8a8a54259f8307a540a691bbcf7c894bf62bf6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-57-19_1131884850/pose.jsonl @@ -0,0 +1,1133 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 72.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 69.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 66.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 63.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 60.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 57.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 54.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 51.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 48.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 42.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 39.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 36.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 33.93934379712613, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 30.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 27.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 24.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 21.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 15.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 12.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 9.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 6.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3.939343797126128, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 0.9393437971261278, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2.060656202873872, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2.060656202873872, + -343.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.658732414227188, + -344.8611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.256808625580504, + -346.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -9.85488483693382, + -347.8611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -12.452961048287136, + -349.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -15.051037259640452, + -350.8611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -17.64911347099377, + -352.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -20.247189682347084, + -353.8611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -22.8452658937004, + -355.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -25.443342105053716, + -356.8611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -28.041418316407032, + -358.3611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -30.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -30.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -33.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "turn left", + "value": 30, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -33.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -33.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -33.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -33.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -33.63949452776035, + -359.8611859500842, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -32.13949452776035, + -362.4592621614375, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -30.63949452776035, + -365.0573383727908, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -29.13949452776035, + -367.6554145841441, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -27.63949452776035, + -370.25349079549744, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -26.13949452776035, + -372.85156700685076, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -24.63949452776035, + -375.4496432182041, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -23.13949452776035, + -378.0477194295574, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -21.63949452776035, + -380.6457956409107, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -20.13949452776035, + -383.243871852264, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -18.63949452776035, + -385.84194806361734, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -17.13949452776035, + -388.44002427497065, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -15.639494527760348, + -391.03810048632397, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -14.139494527760348, + -393.6361766976773, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -12.639494527760348, + -396.2342529090306, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -11.139494527760348, + -398.8323291203839, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -9.639494527760348, + -401.43040533173723, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -8.139494527760348, + -404.02848154309055, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -6.639494527760348, + -406.62655775444387, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -5.139494527760348, + -409.2246339657972, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -3.639494527760348, + -411.8227101771505, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -2.1394945277603474, + -414.4207863885038, + -2.4204142354787965 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -2.1394945277603474, + -414.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -2.1394945277603474, + -417.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -2.1394945277603474, + -420.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -2.1394945277603474, + -423.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -2.1394945277603474, + -426.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -2.1394945277603474, + -429.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -2.1394945277603474, + -432.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -2.1394945277603474, + -435.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -2.1394945277603474, + -438.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -2.1394945277603474, + -441.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -2.1394945277603474, + -444.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -2.1394945277603474, + -447.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -2.1394945277603474, + -450.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -2.1394945277603474, + -453.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -2.1394945277603474, + -456.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -2.1394945277603474, + -459.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -2.1394945277603474, + -462.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -2.1394945277603474, + -465.4207863885038, + -2.4204142354787965 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -2.1394945277603474, + -468.4207863885038, + -2.4204142354787965 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-57-57_380390179/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-57-57_380390179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e820a6083d29f2878c6b43b1bc35777d45f33032 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-57-57_380390179/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 337.54185526048155, + 164.49673501190352, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 340.54185526048155, + 164.49673501190352, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 343.54185526048155, + 164.49673501190352, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 346.54185526048155, + 164.49673501190352, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 346.54185526048155, + 164.49673501190352, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 346.54185526048155, + 164.49673501190352, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.04185526048155, + 167.09481122325684, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 349.54185526048155, + 169.69288743461016, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 351.04185526048155, + 172.29096364596347, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 352.54185526048155, + 174.8890398573168, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 354.04185526048155, + 177.4871160686701, + 3.8568599027298784 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 354.04185526048155, + 177.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 356.63993147183487, + 178.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 359.2380076831882, + 180.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 361.8360838945415, + 181.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 364.4341601058948, + 183.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 367.03223631724813, + 184.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 369.63031252860145, + 186.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 372.22838873995477, + 187.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 374.8264649513081, + 189.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 377.4245411626614, + 190.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 380.0226173740147, + 192.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 382.62069358536803, + 193.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 385.21876979672135, + 195.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 387.81684600807466, + 196.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 390.414922219428, + 198.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 393.0129984307813, + 199.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 395.6110746421346, + 201.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 398.2091508534879, + 202.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 400.80722706484124, + 204.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 403.40530327619456, + 205.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 406.0033794875479, + 207.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 408.6014556989012, + 208.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 411.1995319102545, + 210.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 413.7976081216078, + 211.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 416.39568433296114, + 213.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 418.99376054431445, + 214.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 421.59183675566777, + 216.4871160686701, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 421.59183675566777, + 216.4871160686701, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 421.59183675566777, + 216.4871160686701, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 421.59183675566777, + 216.4871160686701, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 421.59183675566777, + 216.4871160686701, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 421.59183675566777, + 216.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 418.99376054431445, + 217.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 416.39568433296114, + 219.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 413.7976081216078, + 220.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 411.1995319102545, + 222.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 408.6014556989012, + 223.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 406.0033794875479, + 225.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 403.40530327619456, + 226.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 400.80722706484124, + 228.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 398.2091508534879, + 229.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 395.6110746421346, + 231.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 393.0129984307813, + 232.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 390.414922219428, + 234.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 387.81684600807466, + 235.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 385.21876979672135, + 237.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 382.62069358536803, + 238.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 380.0226173740147, + 240.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 377.4245411626614, + 241.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 374.8264649513081, + 243.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 372.22838873995477, + 244.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 369.63031252860145, + 246.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 367.03223631724813, + 247.9871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 364.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 364.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 361.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 358.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 355.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 352.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 349.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 346.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 343.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 340.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 337.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 334.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 331.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 328.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 325.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 322.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 319.4341601058948, + 249.4871160686701, + 3.8568599027298784 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-59-11_235202254/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-59-11_235202254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e752f16b212045a9d9bd4744b73c6c0d9baa377c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-59-11_235202254/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 537.4102343158463, + -312.3657231332271, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 535.9102343158463, + -309.7676469218738, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 534.4102343158463, + -307.1695707105205, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 532.9102343158463, + -304.57149449916716, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 531.4102343158463, + -301.97341828781384, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 529.9102343158463, + -299.3753420764605, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 528.4102343158463, + -296.7772658651072, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 526.9102343158463, + -294.1791896537539, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 525.4102343158463, + -291.5811134424006, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 523.9102343158463, + -288.98303723104726, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 522.4102343158463, + -286.38496101969395, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 520.9102343158463, + -283.78688480834063, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 519.4102343158463, + -281.1888085969873, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 517.9102343158463, + -278.590732385634, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 516.4102343158463, + -275.9926561742807, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 514.9102343158463, + -273.39457996292737, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 513.4102343158463, + -270.79650375157405, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 511.9102343158463, + -268.19842754022073, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 510.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 510.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 510.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 510.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 507.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 504.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 501.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 498.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 495.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 492.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 489.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 486.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 483.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 480.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 477.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 474.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 471.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 468.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 465.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 462.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 459.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 456.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 453.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 450.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 450.4102343158463, + -265.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 447.812158104493, + -264.1003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 445.2140818931397, + -262.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 442.61600568178636, + -261.1003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 440.01792947043305, + -259.6003513288674, + 0.35545464502606894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 437.41985325907973, + -258.1003513288674, + 0.35545464502606894 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-59-37_833215350/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-59-37_833215350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b46721a218b1981921107730cf38dbf81cecb81 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-59-37_833215350/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1502.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1505.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1508.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1511.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1514.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1517.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1520.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1523.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1526.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1529.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1532.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1535.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1538.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1541.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1544.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1547.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1550.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1553.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1556.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1556.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1556.9729881617336, + -127.14970206588067, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1558.4729881617336, + -124.55162585452736, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1559.9729881617336, + -121.95354964317404, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1561.4729881617336, + -119.35547343182073, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1562.9729881617336, + -116.75739722046741, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1564.4729881617336, + -114.1593210091141, + 3.092014467719686 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1564.4729881617336, + -114.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1567.071064373087, + -112.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1569.6691405844404, + -111.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1572.2672167957937, + -109.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1574.865293007147, + -108.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1577.4633692185005, + -106.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1580.0614454298538, + -105.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1582.6595216412072, + -103.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1585.2575978525606, + -102.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1587.855674063914, + -100.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1590.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1590.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1593.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1596.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1599.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1599.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1599.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1599.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1599.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1599.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1599.4537502752673, + -99.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1596.855674063914, + -97.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1594.2575978525606, + -96.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1591.6595216412072, + -94.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1589.0614454298538, + -93.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1586.4633692185005, + -91.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1583.865293007147, + -90.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1581.2672167957937, + -88.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1578.6691405844404, + -87.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1576.071064373087, + -85.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1573.4729881617336, + -84.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1570.8749119503802, + -82.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1568.2768357390269, + -81.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1565.6787595276735, + -79.6593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1563.0806833163201, + -78.1593210091141, + 3.092014467719686 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1563.0806833163201, + -78.1593210091141, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1561.5806833163201, + -75.56124479776078, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1560.0806833163201, + -72.96316858640746, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1558.5806833163201, + -70.36509237505415, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1557.0806833163201, + -67.76701616370083, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1555.5806833163201, + -65.16893995234751, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1554.0806833163201, + -62.5708637409942, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1552.5806833163201, + -59.97278752964088, + 3.092014467719686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1551.0806833163201, + -57.37471131828757, + 3.092014467719686 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-7-25_51245830/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-7-25_51245830/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20729f5f92625dab62f59eb27d3aa2532fe66798 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-7-25_51245830/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 830.3977230211095, + -459.6733928642303, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 831.8977230211095, + -457.075316652877, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 833.3977230211095, + -454.4772404415237, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 834.8977230211095, + -451.8791642301704, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 836.3977230211095, + -449.28108801881706, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 837.8977230211095, + -446.68301180746374, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 839.3977230211095, + -444.0849355961104, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 840.8977230211095, + -441.4868593847571, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 842.3977230211095, + -438.8887831734038, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 843.8977230211095, + -436.2907069620505, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 845.3977230211095, + -433.69263075069716, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 846.8977230211095, + -431.09455453934385, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 848.3977230211095, + -428.49647832799053, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 849.8977230211095, + -425.8984021166372, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 851.3977230211095, + -423.3003259052839, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 852.8977230211095, + -420.7022496939306, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 854.3977230211095, + -418.10417348257727, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 855.8977230211095, + -415.50609727122395, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 857.3977230211095, + -412.90802105987063, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 858.8977230211095, + -410.3099448485173, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 860.3977230211095, + -407.711868637164, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 861.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 861.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 861.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 861.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 864.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 867.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 870.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 873.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 876.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 879.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 882.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 885.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 888.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 891.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 894.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 897.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 900.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 903.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 906.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 909.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 912.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 915.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 918.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 921.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 924.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 927.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 927.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 927.8977230211095, + -405.1137924258107, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 929.3977230211095, + -402.51571621445737, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 930.8977230211095, + -399.91764000310405, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 932.3977230211095, + -397.31956379175074, + -1.266916802110746 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 932.3977230211095, + -397.31956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 934.9957992324628, + -395.81956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 937.5938754438162, + -394.31956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 940.1919516551695, + -392.81956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 942.7900278665229, + -391.31956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 945.3881040778763, + -389.81956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 947.9861802892297, + -388.31956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 950.584256500583, + -386.81956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 953.1823327119364, + -385.31956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 955.7804089232898, + -383.81956379175074, + -1.266916802110746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 958.3784851346431, + -382.31956379175074, + -1.266916802110746 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-7-55_10901063/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-7-55_10901063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b191dfa3f2b6f94eac765a88ae842ffde2963f4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-7-55_10901063/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1304.2805413848475, + -142.66945568251833, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1302.7805413848475, + -145.26753189387165, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1301.2805413848475, + -147.86560810522496, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1299.7805413848475, + -150.46368431657828, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1298.2805413848475, + -153.0617605279316, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1296.7805413848475, + -155.6598367392849, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1295.2805413848475, + -158.25791295063823, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1293.7805413848475, + -160.85598916199154, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1292.2805413848475, + -163.45406537334486, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1290.7805413848475, + -166.05214158469818, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1289.2805413848475, + -168.6502177960515, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1287.7805413848475, + -171.2482940074048, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1286.2805413848475, + -173.84637021875812, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1284.7805413848475, + -176.44444643011144, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1283.2805413848475, + -179.04252264146476, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1281.7805413848475, + -181.64059885281807, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1280.2805413848475, + -184.2386750641714, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1278.7805413848475, + -186.8367512755247, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1277.2805413848475, + -189.43482748687802, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1275.7805413848475, + -192.03290369823134, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1274.2805413848475, + -194.63097990958465, + 2.788813434506439 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1274.2805413848475, + -194.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1274.2805413848475, + -197.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1274.2805413848475, + -200.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1274.2805413848475, + -203.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1274.2805413848475, + -206.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1274.2805413848475, + -209.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1274.2805413848475, + -212.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1274.2805413848475, + -215.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1274.2805413848475, + -218.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1274.2805413848475, + -221.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1274.2805413848475, + -224.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1274.2805413848475, + -227.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1274.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1274.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1274.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1274.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1274.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1277.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1280.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1283.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1286.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1289.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1292.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1295.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1298.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1301.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1304.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1307.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1310.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1310.2805413848475, + -230.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1312.878617596201, + -229.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1315.4766938075543, + -227.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1318.0747700189077, + -226.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1320.672846230261, + -224.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1323.2709224416144, + -223.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1325.8689986529678, + -221.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1328.4670748643211, + -220.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1331.0651510756745, + -218.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1333.663227287028, + -217.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1336.2613034983813, + -215.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1338.8593797097346, + -214.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1341.457455921088, + -212.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1344.0555321324414, + -211.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1346.6536083437948, + -209.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1349.2516845551481, + -208.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1351.8497607665015, + -206.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1354.4478369778549, + -205.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1357.0459131892082, + -203.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1359.6439894005616, + -202.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1362.242065611915, + -200.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1364.8401418232684, + -199.13097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1367.4382180346217, + -197.63097990958465, + 2.788813434506439 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1367.4382180346217, + -197.63097990958465, + 2.788813434506439 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1370.4382180346217, + -197.63097990958465, + 2.788813434506439 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-8-55_628966950/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-8-55_628966950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2948ffdd93ce0ccb893e1dc51c39707bf5566246 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_5-8-55_628966950/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 200.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 203.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 206.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 209.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 212.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 215.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 218.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 221.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 224.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 227.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 233.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 236.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 239.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 242.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 245.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 248.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 251.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 254.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 257.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 260.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 263.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 266.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 269.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 272.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 275.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 278.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 281.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 284.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 287.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 290.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 293.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 299.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 301.7425497850784, + 244.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 304.3406259964317, + 246.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.938702207785, + 247.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 309.53677841913833, + 249.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 312.13485463049165, + 250.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 314.73293084184496, + 252.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 312.13485463049165, + 250.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 309.53677841913833, + 249.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 306.938702207785, + 247.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 304.3406259964317, + 246.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 301.7425497850784, + 244.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 299.14447357372507, + 243.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 296.54639736237175, + 241.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 293.94832115101843, + 240.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 291.3502449396651, + 238.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 288.7521687283118, + 237.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 286.1540925169585, + 235.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 283.55601630560517, + 234.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 280.95794009425185, + 232.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 278.35986388289854, + 231.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 275.7617876715452, + 229.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 273.1637114601919, + 228.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 270.5656352488386, + 226.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 267.9675590374853, + 225.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 265.36948282613196, + 223.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 262.77140661477864, + 222.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 260.1733304034253, + 220.53660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 257.575254192072, + 219.03660241012616, + 3.8061429014175037 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 257.575254192072, + 219.03660241012616, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 256.075254192072, + 216.43852619877285, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 254.575254192072, + 213.84044998741953, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 253.075254192072, + 211.24237377606622, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 251.575254192072, + 208.6442975647129, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 250.075254192072, + 206.04622135335958, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 248.575254192072, + 203.44814514200627, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 247.075254192072, + 200.85006893065295, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 245.575254192072, + 198.25199271929964, + 3.8061429014175037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 244.075254192072, + 195.65391650794632, + 3.8061429014175037 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-1-16_1503967857/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-1-16_1503967857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f9c794691d0dd056d1fcd9a5e905887d07ecdab --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-1-16_1503967857/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1000.6336840756409, + -370.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1000.6336840756409, + -367.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1000.6336840756409, + -364.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1000.6336840756409, + -361.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1000.6336840756409, + -358.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1000.6336840756409, + -355.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1000.6336840756409, + -352.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1000.6336840756409, + -349.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1000.6336840756409, + -346.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1000.6336840756409, + -343.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1000.6336840756409, + -340.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1000.6336840756409, + -337.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1000.6336840756409, + -334.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1000.6336840756409, + -331.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1000.6336840756409, + -328.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1000.6336840756409, + -325.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1000.6336840756409, + -322.6445036903478, + 0.2066626768226696 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1000.6336840756409, + -322.6445036903478, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 999.1336840756409, + -320.0464274789945, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 997.6336840756409, + -317.44835126764116, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 996.1336840756409, + -314.85027505628784, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 994.6336840756409, + -312.2521988449345, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 993.1336840756409, + -309.6541226335812, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 991.6336840756409, + -307.0560464222279, + 0.2066626768226696 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 991.6336840756409, + -307.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 989.0356078642876, + -305.5560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 986.4375316529342, + -304.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 983.8394554415809, + -302.5560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 981.2413792302275, + -301.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 978.6433030188741, + -299.5560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 976.0452268075207, + -298.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 973.4471505961674, + -296.5560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 970.849074384814, + -295.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 968.2509981734606, + -293.5560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 965.6529219621073, + -292.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 963.0548457507539, + -290.5560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 960.4567695394005, + -289.0560464222279, + 0.2066626768226696 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 960.4567695394005, + -289.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 957.4567695394005, + -289.0560464222279, + 0.2066626768226696 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 954.4567695394005, + -289.0560464222279, + 0.2066626768226696 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-1-45_1158381494/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-1-45_1158381494/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87041910e362ed808551523f641b1c7ea31abd5e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-1-45_1158381494/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 507.05161733978144, + -145.77989260786373, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 504.4535411284281, + -147.27989260786373, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 501.8554649170748, + -148.77989260786373, + 0.6131715458165097 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 501.8554649170748, + -148.77989260786373, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 500.3554649170748, + -151.37796881921705, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 498.8554649170748, + -153.97604503057036, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 497.3554649170748, + -156.57412124192368, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 495.8554649170748, + -159.172197453277, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 494.3554649170748, + -161.7702736646303, + 0.6131715458165097 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 494.3554649170748, + -161.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 494.3554649170748, + -164.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 494.3554649170748, + -167.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 494.3554649170748, + -170.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 494.3554649170748, + -173.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 494.3554649170748, + -176.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 494.3554649170748, + -179.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 494.3554649170748, + -182.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 494.3554649170748, + -185.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 494.3554649170748, + -188.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 494.3554649170748, + -191.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 494.3554649170748, + -194.7702736646303, + 0.6131715458165097 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 494.3554649170748, + -194.7702736646303, + 0.6131715458165097 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 494.3554649170748, + -194.7702736646303, + 0.6131715458165097 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 494.3554649170748, + -194.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 491.7573887057215, + -196.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 489.1593124943682, + -197.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 486.56123628301486, + -199.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 483.96316007166155, + -200.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 481.36508386030823, + -202.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 478.7670076489549, + -203.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 476.1689314376016, + -205.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 473.5708552262483, + -206.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 470.97277901489497, + -208.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 468.37470280354165, + -209.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 465.77662659218834, + -211.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 463.178550380835, + -212.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 460.5804741694817, + -214.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 457.9823979581284, + -215.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 455.3843217467751, + -217.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 452.78624553542176, + -218.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 450.18816932406844, + -220.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 447.5900931127151, + -221.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 444.9920169013618, + -223.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 442.3939406900085, + -224.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 439.7958644786552, + -226.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 437.19778826730186, + -227.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 434.59971205594854, + -229.2702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 432.0016358445952, + -230.7702736646303, + 0.6131715458165097 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 432.0016358445952, + -230.7702736646303, + 0.6131715458165097 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 432.0016358445952, + -230.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 432.0016358445952, + -233.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 432.0016358445952, + -236.7702736646303, + 0.6131715458165097 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 432.0016358445952, + -239.7702736646303, + 0.6131715458165097 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-12-49_1341443181/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-12-49_1341443181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4bb243b3b5059eeb6d61c5acb857e69f5e33bd4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-12-49_1341443181/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 963.0872299937199, + -288.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 963.0872299937199, + -291.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 963.0872299937199, + -294.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 963.0872299937199, + -297.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 963.0872299937199, + -300.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 963.0872299937199, + -303.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 963.0872299937199, + -306.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 963.0872299937199, + -309.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 963.0872299937199, + -312.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 963.0872299937199, + -315.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 963.0872299937199, + -318.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 963.0872299937199, + -321.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 963.0872299937199, + -324.67703902159315, + 1.6593531633884595 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 963.0872299937199, + -324.67703902159315, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 964.5872299937199, + -327.27511523294646, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 966.0872299937199, + -329.8731914442998, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 967.5872299937199, + -332.4712676556531, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 969.0872299937199, + -335.0693438670064, + 1.6593531633884595 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 969.0872299937199, + -335.0693438670064, + 1.6593531633884595 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 969.0872299937199, + -335.0693438670064, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 967.5872299937199, + -337.6674200783597, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 966.0872299937199, + -340.26549628971304, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 964.5872299937199, + -342.86357250106636, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 963.0872299937199, + -345.4616487124197, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 961.5872299937199, + -348.059724923773, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 960.0872299937199, + -350.6578011351263, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 958.5872299937199, + -353.2558773464796, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 957.0872299937199, + -355.85395355783294, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 955.5872299937199, + -358.45202976918625, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 954.0872299937199, + -361.05010598053957, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 952.5872299937199, + -363.6481821918929, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 951.0872299937199, + -366.2462584032462, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 949.5872299937199, + -368.8443346145995, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 948.0872299937199, + -371.44241082595283, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 946.5872299937199, + -374.04048703730615, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 945.0872299937199, + -376.63856324865947, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 943.5872299937199, + -379.2366394600128, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 942.0872299937199, + -381.8347156713661, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 940.5872299937199, + -384.4327918827194, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 939.0872299937199, + -387.03086809407273, + 1.6593531633884595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 937.5872299937199, + -389.62894430542605, + 1.6593531633884595 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-13-12_1078898506/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-13-12_1078898506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7729450681dbba45cd05bce115535e75edee9b4a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-13-12_1078898506/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 239.79516303105768, + -116.8570299727693, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 239.79516303105768, + -119.8570299727693, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 239.79516303105768, + -122.8570299727693, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 239.79516303105768, + -125.8570299727693, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 239.79516303105768, + -128.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 239.79516303105768, + -131.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 239.79516303105768, + -134.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 239.79516303105768, + -137.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 239.79516303105768, + -140.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 239.79516303105768, + -143.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 239.79516303105768, + -146.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 239.79516303105768, + -149.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 239.79516303105768, + -152.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 239.79516303105768, + -155.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 239.79516303105768, + -158.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 239.79516303105768, + -161.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 239.79516303105768, + -164.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 239.79516303105768, + -167.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 239.79516303105768, + -170.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 239.79516303105768, + -173.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 239.79516303105768, + -176.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 239.79516303105768, + -179.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 239.79516303105768, + -182.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 239.79516303105768, + -185.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 239.79516303105768, + -188.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 239.79516303105768, + -191.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 239.79516303105768, + -194.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 239.79516303105768, + -197.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 239.79516303105768, + -200.85702997276928, + 3.3840693900955916 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 239.79516303105768, + -200.85702997276928, + 3.3840693900955916 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 239.79516303105768, + -200.85702997276928, + 3.3840693900955916 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 239.79516303105768, + -200.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 237.19708681970437, + -202.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 234.59901060835105, + -203.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 232.00093439699774, + -205.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 229.40285818564442, + -206.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 226.8047819742911, + -208.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 224.2067057629378, + -209.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 221.60862955158447, + -211.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 219.01055334023116, + -212.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 216.41247712887784, + -214.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 213.81440091752452, + -215.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 211.2163247061712, + -217.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 208.6182484948179, + -218.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 206.02017228346458, + -220.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 203.42209607211126, + -221.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 200.82401986075794, + -223.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 198.22594364940463, + -224.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 195.6278674380513, + -226.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 193.029791226698, + -227.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 190.43171501534468, + -229.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 187.83363880399136, + -230.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 185.23556259263805, + -232.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 182.63748638128473, + -233.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 180.03941016993141, + -235.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 177.4413339585781, + -236.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 174.84325774722478, + -238.35702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 172.24518153587147, + -239.85702997276928, + 3.3840693900955916 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 172.24518153587147, + -239.85702997276928, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 170.74518153587147, + -242.4551061841226, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 169.24518153587147, + -245.05318239547591, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 167.74518153587147, + -247.65125860682923, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 166.24518153587147, + -250.24933481818255, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 164.74518153587147, + -252.84741102953586, + 3.3840693900955916 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 163.24518153587147, + -255.44548724088918, + 3.3840693900955916 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-14-41_63299708/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-14-41_63299708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd5f62e58ed45aacc57fab8345c5fef216571263 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-14-41_63299708/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 598.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 595.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 592.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 589.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 586.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 583.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 580.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 577.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 574.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 571.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 568.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 565.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 562.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 559.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 556.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 553.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 550.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 547.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 544.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 541.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 538.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 535.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 532.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 529.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 526.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 523.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 520.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 517.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 514.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 514.1504972976552, + -371.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 511.5524210863019, + -369.5957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 508.95434487494856, + -368.0957438287346, + 0.06474649413446087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 508.95434487494856, + -368.0957438287346, + 0.06474649413446087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 508.95434487494856, + -368.0957438287346, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 507.45434487494856, + -365.4976676173813, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 505.95434487494856, + -362.899591406028, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 504.45434487494856, + -360.30151519467466, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 502.95434487494856, + -357.70343898332135, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 501.45434487494856, + -355.10536277196803, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 499.95434487494856, + -352.5072865606147, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 498.45434487494856, + -349.9092103492614, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 496.95434487494856, + -347.3111341379081, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 495.45434487494856, + -344.71305792655477, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 493.95434487494856, + -342.11498171520145, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 492.45434487494856, + -339.51690550384814, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 490.95434487494856, + -336.9188292924948, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 489.45434487494856, + -334.3207530811415, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 487.95434487494856, + -331.7226768697882, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 486.45434487494856, + -329.1246006584349, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 484.95434487494856, + -326.52652444708156, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 483.45434487494856, + -323.92844823572824, + 0.06474649413446087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 483.45434487494856, + -323.92844823572824, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 480.85626866359524, + -322.42844823572824, + 0.06474649413446087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 478.25819245224193, + -320.92844823572824, + 0.06474649413446087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-15-41_1287859999/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-15-41_1287859999/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85cdc70ac46e227036ac01223a94932cd11fe3ca --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-15-41_1287859999/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 172.93820555500793, + -25.849968813559983, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 171.43820555500793, + -23.251892602206667, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 169.93820555500793, + -20.65381639085335, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 168.43820555500793, + -18.055740179500035, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 166.93820555500793, + -15.457663968146719, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 165.43820555500793, + -12.859587756793402, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 163.93820555500793, + -10.261511545440086, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 162.43820555500793, + -7.6634353340867705, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 160.93820555500793, + -5.0653591227334545, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 159.43820555500793, + -2.4672829113801384, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 157.93820555500793, + 0.13079329997317757, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 156.43820555500793, + 2.7288695113264936, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 154.93820555500793, + 5.32694572267981, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 153.43820555500793, + 7.925021934033126, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 151.93820555500793, + 10.523098145386442, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 150.43820555500793, + 13.121174356739758, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 148.93820555500793, + 15.719250568093074, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 147.43820555500793, + 18.31732677944639, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 145.93820555500793, + 20.915402990799706, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 144.43820555500793, + 23.51347920215302, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 142.93820555500793, + 26.111555413506338, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 141.43820555500793, + 28.709631624859654, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 139.93820555500793, + 31.30770783621297, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 138.43820555500793, + 33.905784047566286, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 136.93820555500793, + 36.5038602589196, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 135.43820555500793, + 39.10193647027292, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 133.93820555500793, + 41.700012681626234, + 0.29088072730583825 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 133.93820555500793, + 41.700012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 131.3401293436546, + 43.200012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 128.7420531323013, + 44.700012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 126.14397692094798, + 46.200012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 123.54590070959466, + 47.700012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 120.94782449824135, + 49.200012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 118.34974828688803, + 50.700012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 115.75167207553471, + 52.200012681626234, + 0.29088072730583825 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 115.75167207553471, + 52.200012681626234, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 114.25167207553471, + 54.79808889297955, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 112.75167207553471, + 57.396165104332866, + 0.29088072730583825 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 112.75167207553471, + 57.396165104332866, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 112.75167207553471, + 60.396165104332866, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 112.75167207553471, + 63.396165104332866, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 112.75167207553471, + 66.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 112.75167207553471, + 69.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 112.75167207553471, + 72.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 112.75167207553471, + 75.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 112.75167207553471, + 78.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 112.75167207553471, + 81.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 112.75167207553471, + 84.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 112.75167207553471, + 87.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 112.75167207553471, + 90.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 112.75167207553471, + 93.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 112.75167207553471, + 96.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 112.75167207553471, + 99.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 112.75167207553471, + 102.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 112.75167207553471, + 105.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 112.75167207553471, + 108.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 112.75167207553471, + 111.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 112.75167207553471, + 114.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 112.75167207553471, + 117.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 112.75167207553471, + 120.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 112.75167207553471, + 123.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 112.75167207553471, + 126.39616510433287, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 112.75167207553471, + 129.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 112.75167207553471, + 132.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 112.75167207553471, + 135.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 112.75167207553471, + 138.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 112.75167207553471, + 141.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 112.75167207553471, + 144.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 112.75167207553471, + 147.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 112.75167207553471, + 150.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 112.75167207553471, + 153.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 112.75167207553471, + 156.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 112.75167207553471, + 159.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 112.75167207553471, + 162.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 112.75167207553471, + 165.39616510433285, + 0.29088072730583825 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 112.75167207553471, + 165.39616510433285, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 111.25167207553471, + 167.99424131568617, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.75167207553471, + 170.59231752703948, + 0.29088072730583825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 108.25167207553471, + 173.1903937383928, + 0.29088072730583825 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-15-9_1623380595/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-15-9_1623380595/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..830390ac63cd2410cf98d96e96b67333acb05592 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-15-9_1623380595/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -212.1242158659143, + -314.82222524711034, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -210.6242158659143, + -312.224149035757, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -209.1242158659143, + -309.6260728244037, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -207.6242158659143, + -307.0279966130504, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -206.1242158659143, + -304.4299204016971, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -204.6242158659143, + -301.83184419034376, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -203.1242158659143, + -299.23376797899044, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -201.6242158659143, + -296.6356917676371, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -200.1242158659143, + -294.0376155562838, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.6242158659143, + -291.4395393449305, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -197.1242158659143, + -288.8414631335772, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.6242158659143, + -286.24338692222386, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -194.1242158659143, + -283.64531071087055, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -192.6242158659143, + -281.04723449951723, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -191.1242158659143, + -278.4491582881639, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -189.6242158659143, + -275.8510820768106, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -188.1242158659143, + -273.2530058654573, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -186.6242158659143, + -270.65492965410397, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -185.1242158659143, + -268.05685344275065, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -183.6242158659143, + -265.45877723139733, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -182.1242158659143, + -262.860701020044, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -180.6242158659143, + -260.2626248086907, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -179.1242158659143, + -257.6645485973374, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.6242158659143, + -255.06647238598407, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -176.1242158659143, + -252.46839617463075, + -1.405664434985057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -176.1242158659143, + -252.46839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -173.52613965456098, + -250.96839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -170.92806344320766, + -249.46839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -168.32998723185435, + -247.96839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -165.73191102050103, + -246.46839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -163.13383480914771, + -244.96839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -160.5357585977944, + -243.46839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -157.93768238644108, + -241.96839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -155.33960617508777, + -240.46839617463075, + -1.405664434985057 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -155.33960617508777, + -240.46839617463075, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -153.83960617508777, + -237.87031996327744, + -1.405664434985057 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -153.83960617508777, + -237.87031996327744, + -1.405664434985057 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -153.83960617508777, + -237.87031996327744, + -1.405664434985057 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -153.83960617508777, + -237.87031996327744, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -155.33960617508777, + -235.27224375192412, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -156.83960617508777, + -232.6741675405708, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -158.33960617508777, + -230.0760913292175, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -159.83960617508777, + -227.47801511786417, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -161.33960617508777, + -224.87993890651086, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.83960617508777, + -222.28186269515754, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -164.33960617508777, + -219.68378648380423, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -165.83960617508777, + -217.0857102724509, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -167.33960617508777, + -214.4876340610976, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -168.83960617508777, + -211.88955784974428, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -170.33960617508777, + -209.29148163839096, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -171.83960617508777, + -206.69340542703765, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -173.33960617508777, + -204.09532921568433, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -174.83960617508777, + -201.49725300433101, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -176.33960617508777, + -198.8991767929777, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -177.83960617508777, + -196.30110058162438, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -179.33960617508777, + -193.70302437027107, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -180.83960617508777, + -191.10494815891775, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -182.33960617508777, + -188.50687194756443, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -183.83960617508777, + -185.90879573621112, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -185.33960617508777, + -183.3107195248578, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -186.83960617508777, + -180.7126433135045, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -188.33960617508777, + -178.11456710215117, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -189.83960617508777, + -175.51649089079785, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -191.33960617508777, + -172.91841467944454, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -192.83960617508777, + -170.32033846809122, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -194.33960617508777, + -167.7222622567379, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -195.83960617508777, + -165.1241860453846, + -1.405664434985057 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -195.83960617508777, + -165.1241860453846, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -198.43768238644108, + -163.6241860453846, + -1.405664434985057 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -201.0357585977944, + -162.1241860453846, + -1.405664434985057 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-20-2_395191309/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-20-2_395191309/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d26b0481e47742b928ba186a153de615e9dcf56 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-20-2_395191309/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 27.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 30.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 33.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 36.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 39.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 42.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 48.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 51.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 54.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 57.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 60.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 63.536439566327246, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 66.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 69.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 72.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 75.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 78.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 81.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 84.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 87.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 90.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 93.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 96.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 99.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 102.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 102.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 102.53643956632725, + 71.22561269404038, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 104.03643956632725, + 68.62753648268706, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 105.53643956632725, + 66.02946027133375, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 107.03643956632725, + 63.43138405998043, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 108.53643956632725, + 60.833307848627115, + -1.9989711945026292 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 108.53643956632725, + 60.833307848627115, + -1.9989711945026292 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 108.53643956632725, + 60.833307848627115, + -1.9989711945026292 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 108.53643956632725, + 60.833307848627115, + -1.9989711945026292 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 108.53643956632725, + 60.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 105.93836335497393, + 59.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 103.34028714362061, + 57.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 100.7422109322673, + 56.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 98.14413472091398, + 54.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 95.54605850956067, + 53.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 92.94798229820735, + 51.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 90.34990608685403, + 50.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 87.75182987550072, + 48.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 85.1537536641474, + 47.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 82.55567745279409, + 45.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 79.95760124144077, + 44.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 77.35952503008745, + 42.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 74.76144881873414, + 41.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 72.16337260738082, + 39.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 69.5652963960275, + 38.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 66.96722018467419, + 36.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 64.36914397332087, + 35.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 61.77106776196756, + 33.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 59.17299155061424, + 32.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 56.574915339260926, + 30.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 53.97683912790761, + 29.333307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 51.378762916554294, + 27.833307848627115, + -1.9989711945026292 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 51.378762916554294, + 27.833307848627115, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 49.878762916554294, + 25.2352316372738, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 48.378762916554294, + 22.637155425920483, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 46.878762916554294, + 20.039079214567167, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 45.378762916554294, + 17.44100300321385, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 43.878762916554294, + 14.842926791860535, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 42.378762916554294, + 12.244850580507219, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 40.878762916554294, + 9.646774369153903, + -1.9989711945026292 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 40.878762916554294, + 9.646774369153903, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 38.28068670520098, + 8.146774369153903, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 35.68261049384766, + 6.646774369153903, + -1.9989711945026292 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 33.084534282494346, + 5.146774369153903, + -1.9989711945026292 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-24-6_580508860/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-24-6_580508860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb4f16316733a6152189370f02eebce871d572fe --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-24-6_580508860/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1494.0856583483376, + -111.46644021517375, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1492.5856583483376, + -114.06451642652706, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1491.0856583483376, + -116.66259263788038, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1489.5856583483376, + -119.2606688492337, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.0856583483376, + -121.85874506058701, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1486.5856583483376, + -124.45682127194033, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1485.0856583483376, + -127.05489748329364, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1483.5856583483376, + -129.65297369464696, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1482.0856583483376, + -132.25104990600028, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1480.5856583483376, + -134.8491261173536, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1479.0856583483376, + -137.4472023287069, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1477.5856583483376, + -140.04527854006022, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1476.0856583483376, + -142.64335475141354, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1474.5856583483376, + -145.24143096276686, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1473.0856583483376, + -147.83950717412017, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1471.5856583483376, + -150.4375833854735, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1470.0856583483376, + -153.0356595968268, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1468.5856583483376, + -155.63373580818012, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1467.0856583483376, + -158.23181201953344, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1465.5856583483376, + -160.82988823088675, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1464.0856583483376, + -163.42796444224007, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1462.5856583483376, + -166.02604065359338, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1461.0856583483376, + -168.6241168649467, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1459.5856583483376, + -171.22219307630002, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1458.0856583483376, + -173.82026928765333, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1456.5856583483376, + -176.41834549900665, + 0.3233013929434314 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1456.5856583483376, + -176.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1453.9875821369842, + -177.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1451.3895059256308, + -179.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1448.7914297142775, + -180.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1446.193353502924, + -182.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1443.5952772915707, + -183.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1440.9972010802173, + -185.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1438.399124868864, + -186.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1435.8010486575106, + -188.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1433.2029724461572, + -189.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1430.6048962348038, + -191.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1428.0068200234505, + -192.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1425.408743812097, + -194.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1422.8106676007437, + -195.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1420.2125913893904, + -197.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1417.614515178037, + -198.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1415.0164389666836, + -200.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1412.4183627553302, + -201.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1409.8202865439769, + -203.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1407.2222103326235, + -204.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1404.6241341212701, + -206.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1402.0260579099167, + -207.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1399.4279816985634, + -209.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1396.82990548721, + -210.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1394.2318292758566, + -212.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1391.6337530645033, + -213.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1389.0356768531499, + -215.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1386.4376006417965, + -216.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1383.8395244304431, + -218.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1381.2414482190898, + -219.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1378.6433720077364, + -221.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1376.045295796383, + -222.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1373.4472195850296, + -224.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1370.8491433736763, + -225.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1368.251067162323, + -227.41834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1365.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1365.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1362.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1359.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1356.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1353.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1350.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1347.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1344.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1341.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1338.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1335.6529909509695, + -228.91834549900665, + 0.3233013929434314 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-25-52_1412277685/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-25-52_1412277685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0976a7d7516e233e7b60b01e85ad3795ea18f5ff --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-25-52_1412277685/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 868.5940145880913, + -186.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 868.5940145880913, + -189.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 868.5940145880913, + -192.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 868.5940145880913, + -195.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 868.5940145880913, + -198.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 868.5940145880913, + -201.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 868.5940145880913, + -204.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 868.5940145880913, + -207.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 868.5940145880913, + -210.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 868.5940145880913, + -213.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 868.5940145880913, + -216.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 868.5940145880913, + -219.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 868.5940145880913, + -222.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 868.5940145880913, + -225.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 868.5940145880913, + -228.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 868.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 868.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 868.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 868.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 868.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 871.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 874.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 877.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 880.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 883.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 886.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 889.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 892.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 895.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 898.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 901.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 904.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 907.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 910.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 913.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 916.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 919.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 922.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 925.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 928.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 931.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 934.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 934.5940145880913, + -231.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 937.1920907994447, + -232.7223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 939.7901670107981, + -234.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 942.3882432221515, + -235.7223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 944.9863194335048, + -237.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 947.5843956448582, + -238.7223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 950.1824718562116, + -240.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 952.780548067565, + -241.7223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 955.3786242789183, + -243.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 957.9767004902717, + -244.7223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 960.5747767016251, + -246.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 963.1728529129784, + -247.7223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 965.7709291243318, + -249.2223480781637, + -1.3750130614998852 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 968.3690053356852, + -250.7223480781637, + -1.3750130614998852 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-29-24_305197314/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-29-24_305197314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45b5dc5a9f2c7e5332aa610192c2fda151c91144 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-29-24_305197314/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -425.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -422.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -419.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -416.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -413.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -410.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -407.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -404.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -401.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -398.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -395.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -392.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -389.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -386.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -383.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -380.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -377.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -374.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -371.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -368.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -365.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -362.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -359.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -359.7768402561486, + -105.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -357.1787640447953, + -104.09516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -354.58068783344197, + -102.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -351.98261162208865, + -101.09516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -349.38453541073534, + -99.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -346.786459199382, + -98.09516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -344.1883829880287, + -96.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -341.5903067766754, + -95.09516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -338.9922305653221, + -93.59516356817181, + -0.6580368901371001 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -338.9922305653221, + -93.59516356817181, + -0.6580368901371001 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -338.9922305653221, + -93.59516356817181, + -0.6580368901371001 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -338.9922305653221, + -93.59516356817181, + -0.6580368901371001 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -338.9922305653221, + -93.59516356817181, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -337.4922305653221, + -96.19323977952513, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -335.9922305653221, + -98.79131599087845, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -334.4922305653221, + -101.38939220223176, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -332.9922305653221, + -103.98746841358508, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -331.4922305653221, + -106.5855446249384, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -329.9922305653221, + -109.18362083629171, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -328.4922305653221, + -111.78169704764503, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -326.9922305653221, + -114.37977325899834, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -325.4922305653221, + -116.97784947035166, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -323.9922305653221, + -119.57592568170497, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -322.4922305653221, + -122.17400189305829, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -320.9922305653221, + -124.7720781044116, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -319.4922305653221, + -127.37015431576492, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -317.9922305653221, + -129.96823052711824, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -316.4922305653221, + -132.56630673847155, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -314.9922305653221, + -135.16438294982487, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -313.4922305653221, + -137.76245916117819, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -311.9922305653221, + -140.3605353725315, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -310.4922305653221, + -142.95861158388482, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -308.9922305653221, + -145.55668779523813, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -307.4922305653221, + -148.15476400659145, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -305.9922305653221, + -150.75284021794477, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -304.4922305653221, + -153.35091642929808, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -302.9922305653221, + -155.9489926406514, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -301.4922305653221, + -158.5470688520047, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -299.9922305653221, + -161.14514506335803, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -298.4922305653221, + -163.74322127471135, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -296.9922305653221, + -166.34129748606466, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -295.4922305653221, + -168.93937369741798, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -293.9922305653221, + -171.5374499087713, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -292.4922305653221, + -174.1355261201246, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -290.9922305653221, + -176.73360233147793, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -289.4922305653221, + -179.33167854283124, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -287.9922305653221, + -181.92975475418456, + -0.6580368901371001 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -287.9922305653221, + -181.92975475418456, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -285.39415435396876, + -183.42975475418456, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -282.79607814261544, + -184.92975475418456, + -0.6580368901371001 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -280.1980019312621, + -186.42975475418456, + -0.6580368901371001 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-3-7_1766146081/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-3-7_1766146081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6da62ef0784b5f5230c1d1bbbc86a985212fb91d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-3-7_1766146081/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -73.25393624643394, + -648.9423439537742, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -71.75393624643394, + -651.5404201651274, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -70.25393624643394, + -654.1384963764808, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -68.75393624643394, + -656.7365725878342, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -67.25393624643394, + -659.3346487991876, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.75393624643394, + -661.9327250105409, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -64.25393624643394, + -664.5308012218943, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -62.75393624643394, + -667.1288774332477, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -61.25393624643394, + -669.726953644601, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -59.75393624643394, + -672.3250298559544, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -58.25393624643394, + -674.9231060673078, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -56.75393624643394, + -677.5211822786612, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -55.25393624643394, + -680.1192584900145, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -53.75393624643394, + -682.7173347013679, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -52.25393624643394, + -685.3154109127213, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -50.75393624643394, + -687.9134871240747, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -49.25393624643394, + -690.511563335428, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -47.75393624643394, + -693.1096395467814, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -46.25393624643394, + -695.7077157581348, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -44.75393624643394, + -698.3057919694882, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -43.25393624643394, + -700.9038681808415, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -41.75393624643394, + -703.5019443921949, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -40.25393624643394, + -706.1000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -38.75393624643394, + -708.6980968149016, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -37.25393624643394, + -711.296173026255, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -35.75393624643394, + -713.8942492376084, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -34.25393624643394, + -716.4923254489618, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -32.75393624643394, + -719.0904016603151, + 1.3349318108799668 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -32.75393624643394, + -719.0904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -30.15586003508062, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -30.15586003508062, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "turn left", + "value": 30, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -30.15586003508062, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -27.15586003508062, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -24.15586003508062, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -21.15586003508062, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -18.15586003508062, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -15.155860035080622, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -12.155860035080622, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -9.155860035080622, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -6.155860035080622, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -3.1558600350806216, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -0.15586003508062163, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2.8441399649193784, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 5.844139964919378, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 8.844139964919378, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 11.844139964919378, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 14.844139964919378, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 17.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 20.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 23.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 26.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 29.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 32.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 35.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 38.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 38.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 38.84413996491938, + -720.5904016603151, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 40.34413996491938, + -717.9923254489618, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 41.84413996491938, + -715.3942492376084, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 43.34413996491938, + -712.796173026255, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 44.84413996491938, + -710.1980968149016, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 46.34413996491938, + -707.6000206035483, + 1.3349318108799668 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 46.34413996491938, + -707.6000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 48.942216176272694, + -706.1000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 51.54029238762601, + -704.6000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 54.138368598979326, + -703.1000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 56.73644481033264, + -701.6000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 59.33452102168596, + -700.1000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 61.932597233039274, + -698.6000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 64.53067344439259, + -697.1000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 67.1287496557459, + -695.6000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 69.72682586709922, + -694.1000206035483, + 1.3349318108799668 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 72.32490207845254, + -692.6000206035483, + 1.3349318108799668 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-30-39_1204754116/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-30-39_1204754116/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae0335d946cfb52217e573b86d98ae5073740fd8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-30-39_1204754116/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1059.2950089283647, + -337.5106498543157, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1057.7950089283647, + -334.9125736429624, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1056.2950089283647, + -332.3144974316091, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1054.7950089283647, + -329.71642122025577, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1053.2950089283647, + -327.11834500890245, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1051.7950089283647, + -324.52026879754914, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1050.2950089283647, + -321.9221925861958, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1048.7950089283647, + -319.3241163748425, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1047.2950089283647, + -316.7260401634892, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1045.7950089283647, + -314.1279639521359, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1044.2950089283647, + -311.52988774078256, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1042.7950089283647, + -308.93181152942924, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1041.2950089283647, + -306.3337353180759, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1039.7950089283647, + -303.7356591067226, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1038.2950089283647, + -301.1375828953693, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1036.7950089283647, + -298.539506684016, + -3.2496034579561828 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1036.7950089283647, + -298.539506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1034.1969327170114, + -297.039506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1031.598856505658, + -295.539506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1029.0007802943046, + -294.039506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1026.4027040829512, + -292.539506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1023.8046278715979, + -291.039506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1021.2065516602445, + -289.539506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1018.6084754488911, + -288.039506684016, + -3.2496034579561828 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1018.6084754488911, + -288.039506684016, + -3.2496034579561828 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1018.6084754488911, + -288.039506684016, + -3.2496034579561828 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1018.6084754488911, + -288.039506684016, + -3.2496034579561828 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1018.6084754488911, + -288.039506684016, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1020.1084754488911, + -285.44143047266266, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1021.6084754488911, + -282.84335426130934, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1023.1084754488911, + -280.245278049956, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1024.608475448891, + -277.6472018386027, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1026.108475448891, + -275.0491256272494, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1027.608475448891, + -272.4510494158961, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1029.108475448891, + -269.85297320454276, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1030.608475448891, + -267.25489699318945, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1032.108475448891, + -264.65682078183613, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1033.608475448891, + -262.0587445704828, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1035.108475448891, + -259.4606683591295, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1036.608475448891, + -256.8625921477762, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1038.108475448891, + -254.26451593642287, + -3.2496034579561828 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1038.108475448891, + -254.26451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1040.7065516602445, + -252.76451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1043.3046278715979, + -251.26451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1045.9027040829512, + -249.76451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1048.5007802943046, + -248.26451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1051.098856505658, + -246.76451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1053.6969327170114, + -245.26451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1056.2950089283647, + -243.76451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1058.893085139718, + -242.26451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1061.4911613510715, + -240.76451593642287, + -3.2496034579561828 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1064.0892375624248, + -239.26451593642287, + -3.2496034579561828 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-31-40_1875641892/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-31-40_1875641892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89e84d464b802d683f2a8e23c82521b1b55428de --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-31-40_1875641892/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1020.0003867662897, + -362.66680190284364, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1018.5003867662897, + -360.06872569149033, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1017.0003867662897, + -357.470649480137, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1015.5003867662897, + -354.8725732687837, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1014.0003867662897, + -352.2744970574304, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1012.5003867662897, + -349.67642084607706, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1011.0003867662897, + -347.07834463472375, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1009.5003867662897, + -344.48026842337043, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1008.0003867662897, + -341.8821922120171, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1006.5003867662897, + -339.2841160006638, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1005.0003867662897, + -336.6860397893105, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1003.5003867662897, + -334.08796357795717, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1002.0003867662897, + -331.48988736660385, + 1.9106496467251555 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1002.0003867662897, + -331.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1002.0003867662897, + -328.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1002.0003867662897, + -325.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1002.0003867662897, + -322.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1002.0003867662897, + -319.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1002.0003867662897, + -316.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1002.0003867662897, + -313.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1002.0003867662897, + -310.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1002.0003867662897, + -307.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1002.0003867662897, + -304.48988736660385, + 1.9106496467251555 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1002.0003867662897, + -304.48988736660385, + 1.9106496467251555 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1002.0003867662897, + -304.48988736660385, + 1.9106496467251555 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1002.0003867662897, + -304.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 999.4023105549363, + -302.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 996.804234343583, + -301.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 994.2061581322296, + -299.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 991.6080819208762, + -298.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 989.0100057095228, + -296.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 986.4119294981695, + -295.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 983.8138532868161, + -293.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 981.2157770754627, + -292.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 978.6177008641093, + -290.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 976.019624652756, + -289.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 973.4215484414026, + -287.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 970.8234722300492, + -286.48988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 968.2253960186958, + -284.98988736660385, + 1.9106496467251555 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 968.2253960186958, + -284.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 965.2253960186958, + -284.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 962.2253960186958, + -284.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 959.2253960186958, + -284.98988736660385, + 1.9106496467251555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 956.2253960186958, + -284.98988736660385, + 1.9106496467251555 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-31-6_1384095820/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-31-6_1384095820/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba4eb87182456da4dda4b56d31d00d31517f4a12 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-31-6_1384095820/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 292.9451751054726, + -447.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.9451751054726, + -444.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 292.9451751054726, + -441.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 292.9451751054726, + -438.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.9451751054726, + -435.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 292.9451751054726, + -432.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 292.9451751054726, + -429.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 292.9451751054726, + -426.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 292.9451751054726, + -423.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 292.9451751054726, + -420.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 292.9451751054726, + -417.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 292.9451751054726, + -414.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 292.9451751054726, + -411.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.9451751054726, + -408.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 292.9451751054726, + -405.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 292.9451751054726, + -402.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 292.9451751054726, + -399.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 292.9451751054726, + -396.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 292.9451751054726, + -393.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 292.9451751054726, + -390.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 292.9451751054726, + -387.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 292.9451751054726, + -384.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 292.9451751054726, + -381.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 292.9451751054726, + -378.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 292.9451751054726, + -375.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 292.9451751054726, + -372.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 292.9451751054726, + -369.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 292.9451751054726, + -366.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 292.9451751054726, + -363.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 292.9451751054726, + -360.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 292.9451751054726, + -357.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 292.9451751054726, + -354.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 292.9451751054726, + -351.51768869274326, + 0.7801270273538989 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 292.9451751054726, + -351.51768869274326, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 291.4451751054726, + -348.91961248138995, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.9451751054726, + -346.32153627003663, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 288.4451751054726, + -343.7234600586833, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 286.9451751054726, + -341.12538384733, + 0.7801270273538989 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 286.9451751054726, + -341.12538384733, + 0.7801270273538989 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 286.9451751054726, + -341.12538384733, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 288.4451751054726, + -338.5273076359767, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 289.9451751054726, + -335.92923142462337, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 291.4451751054726, + -333.33115521327005, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 292.9451751054726, + -330.73307900191674, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 294.4451751054726, + -328.1350027905634, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 295.9451751054726, + -325.5369265792101, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 297.4451751054726, + -322.9388503678568, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 298.9451751054726, + -320.34077415650347, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 300.4451751054726, + -317.74269794515016, + 0.7801270273538989 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 300.4451751054726, + -317.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 303.0432513168259, + -316.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 305.6413275281792, + -314.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 308.2394037395325, + -313.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 310.83747995088584, + -311.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 313.43555616223915, + -310.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 316.03363237359247, + -308.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 318.6317085849458, + -307.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 321.2297847962991, + -305.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 323.8278610076524, + -304.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 326.42593721900573, + -302.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 329.02401343035905, + -301.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 331.62208964171236, + -299.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 334.2201658530657, + -298.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 336.818242064419, + -296.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 339.4163182757723, + -295.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 342.0143944871256, + -293.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 344.61247069847894, + -292.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 347.21054690983226, + -290.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 349.8086231211856, + -289.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 352.4066993325389, + -287.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 355.0047755438922, + -286.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 357.6028517552455, + -284.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 360.20092796659884, + -283.24269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 362.79900417795216, + -281.74269794515016, + 0.7801270273538989 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 365.3970803893055, + -280.24269794515016, + 0.7801270273538989 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-32-34_1447395528/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-32-34_1447395528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..661d35bd639c238e11d4a3e2f4d1b1f6d1a16213 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-32-34_1447395528/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -195.4783480679502, + -20.99251058135488, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -193.9783480679502, + -23.590586792708194, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -192.4783480679502, + -26.18866300406151, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -190.9783480679502, + -28.786739215414826, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -189.4783480679502, + -31.384815426768142, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -187.9783480679502, + -33.98289163812146, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -186.4783480679502, + -36.580967849474774, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -184.9783480679502, + -39.17904406082809, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -183.4783480679502, + -41.777120272181406, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -181.9783480679502, + -44.37519648353472, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -180.4783480679502, + -46.97327269488804, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -178.9783480679502, + -49.571348906241354, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -177.4783480679502, + -52.16942511759467, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -175.9783480679502, + -54.767501328947986, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -174.4783480679502, + -57.3655775403013, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -172.9783480679502, + -59.96365375165462, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -171.4783480679502, + -62.561729963007934, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -169.9783480679502, + -65.15980617436125, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -168.4783480679502, + -67.75788238571457, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -166.9783480679502, + -70.35595859706788, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -165.4783480679502, + -72.9540348084212, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -163.9783480679502, + -75.55211101977451, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -162.4783480679502, + -78.15018723112783, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -160.9783480679502, + -80.74826344248115, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -159.4783480679502, + -83.34633965383446, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -157.9783480679502, + -85.94441586518778, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -156.4783480679502, + -88.5424920765411, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -154.9783480679502, + -91.14056828789441, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -153.4783480679502, + -93.73864449924773, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -151.9783480679502, + -96.33672071060104, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -150.4783480679502, + -98.93479692195436, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -148.9783480679502, + -101.53287313330767, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -147.4783480679502, + -104.13094934466099, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -145.9783480679502, + -106.7290255560143, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -144.4783480679502, + -109.32710176736762, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -142.9783480679502, + -111.92517797872094, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -141.4783480679502, + -114.52325419007425, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -139.9783480679502, + -117.12133040142757, + 0.14950195118420329 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -139.9783480679502, + -117.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -137.3802718565969, + -118.62133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -134.78219564524358, + -120.12133040142757, + 0.14950195118420329 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -134.78219564524358, + -120.12133040142757, + 0.14950195118420329 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -134.78219564524358, + -120.12133040142757, + 0.14950195118420329 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -134.78219564524358, + -120.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -134.78219564524358, + -123.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -134.78219564524358, + -126.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -134.78219564524358, + -129.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -134.78219564524358, + -132.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -134.78219564524358, + -135.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -134.78219564524358, + -138.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -134.78219564524358, + -141.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -134.78219564524358, + -144.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -134.78219564524358, + -147.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -134.78219564524358, + -150.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -134.78219564524358, + -153.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -134.78219564524358, + -156.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -134.78219564524358, + -159.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -134.78219564524358, + -162.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -134.78219564524358, + -165.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -134.78219564524358, + -168.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -134.78219564524358, + -171.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -134.78219564524358, + -174.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -134.78219564524358, + -177.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -134.78219564524358, + -180.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -134.78219564524358, + -183.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -134.78219564524358, + -186.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -134.78219564524358, + -189.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -134.78219564524358, + -192.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -134.78219564524358, + -195.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -134.78219564524358, + -198.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -134.78219564524358, + -201.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -134.78219564524358, + -204.12133040142757, + 0.14950195118420329 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -134.78219564524358, + -204.12133040142757, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -136.28219564524358, + -206.7194066127809, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -137.78219564524358, + -209.3174828241342, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -139.28219564524358, + -211.91555903548752, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -140.78219564524358, + -214.51363524684083, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -142.28219564524358, + -217.11171145819415, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -143.78219564524358, + -219.70978766954747, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -145.28219564524358, + -222.30786388090078, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -146.78219564524358, + -224.9059400922541, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -148.28219564524358, + -227.50401630360741, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -149.78219564524358, + -230.10209251496073, + 0.14950195118420329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -151.28219564524358, + -232.70016872631405, + 0.14950195118420329 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-33-43_1787897525/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-33-43_1787897525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0efcd8ba5bdb7cacdaf038d9d98551a27468b22c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-33-43_1787897525/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 902.3459709969748, + -485.93937179186946, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 903.8459709969748, + -483.34129558051615, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 905.3459709969748, + -480.74321936916283, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 906.8459709969748, + -478.1451431578095, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 908.3459709969748, + -475.5470669464562, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 909.8459709969748, + -472.9489907351029, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 911.3459709969748, + -470.35091452374957, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 912.8459709969748, + -467.75283831239625, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 914.3459709969748, + -465.15476210104293, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 915.8459709969748, + -462.5566858896896, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 917.3459709969748, + -459.9586096783363, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 918.8459709969748, + -457.360533466983, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 920.3459709969748, + -454.76245725562967, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 921.8459709969748, + -452.16438104427635, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 923.3459709969748, + -449.56630483292304, + 3.319149369471722 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 923.3459709969748, + -449.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 923.3459709969748, + -446.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 923.3459709969748, + -443.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 923.3459709969748, + -440.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 923.3459709969748, + -437.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 923.3459709969748, + -434.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 923.3459709969748, + -431.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 923.3459709969748, + -428.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 923.3459709969748, + -425.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 923.3459709969748, + -422.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 923.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 923.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 923.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 923.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 923.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 920.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 917.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 914.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 911.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 908.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 905.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 902.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 899.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 896.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 893.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 890.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 887.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 884.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 881.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 878.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 875.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 872.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 869.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 866.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 863.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 860.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 857.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 854.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 851.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 848.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 848.3459709969748, + -419.56630483292304, + 3.319149369471722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 845.7478947856214, + -418.06630483292304, + 3.319149369471722 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-34-12_1745897490/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-34-12_1745897490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..114f827f03327ec77d1b24c14d6e0805896a9656 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-34-12_1745897490/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1379.7113767304002, + -165.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1379.7113767304002, + -162.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1379.7113767304002, + -159.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1379.7113767304002, + -156.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1379.7113767304002, + -153.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1379.7113767304002, + -150.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1379.7113767304002, + -147.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1379.7113767304002, + -144.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1379.7113767304002, + -141.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1379.7113767304002, + -138.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1379.7113767304002, + -135.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1379.7113767304002, + -132.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1379.7113767304002, + -129.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1379.7113767304002, + -126.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1379.7113767304002, + -123.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1379.7113767304002, + -120.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1379.7113767304002, + -117.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1379.7113767304002, + -114.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1379.7113767304002, + -111.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1379.7113767304002, + -108.23684715302534, + 1.885897721180985 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1379.7113767304002, + -108.23684715302534, + 1.885897721180985 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1379.7113767304002, + -108.23684715302534, + 1.885897721180985 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1379.7113767304002, + -108.23684715302534, + 1.885897721180985 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1379.7113767304002, + -108.23684715302534, + 1.885897721180985 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1379.7113767304002, + -108.23684715302534, + 1.885897721180985 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1379.7113767304002, + -108.23684715302534, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1381.2113767304002, + -110.83492336437865, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1382.7113767304002, + -113.43299957573197, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1384.2113767304002, + -116.03107578708529, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1385.7113767304002, + -118.6291519984386, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1387.2113767304002, + -121.22722820979192, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1388.7113767304002, + -123.82530442114523, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1390.2113767304002, + -126.42338063249855, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1391.7113767304002, + -129.02145684385187, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1393.2113767304002, + -131.61953305520518, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1394.7113767304002, + -134.2176092665585, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1396.2113767304002, + -136.8156854779118, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1397.7113767304002, + -139.41376168926513, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1399.2113767304002, + -142.01183790061845, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1400.7113767304002, + -144.60991411197176, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1402.2113767304002, + -147.20799032332508, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1403.7113767304002, + -149.8060665346784, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1405.2113767304002, + -152.4041427460317, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1406.7113767304002, + -155.00221895738503, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1408.2113767304002, + -157.60029516873834, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1409.7113767304002, + -160.19837138009166, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1411.2113767304002, + -162.79644759144497, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1412.7113767304002, + -165.3945238027983, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1414.2113767304002, + -167.9926000141516, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1415.7113767304002, + -170.59067622550492, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1417.2113767304002, + -173.18875243685824, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1418.7113767304002, + -175.78682864821155, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1420.2113767304002, + -178.38490485956487, + 1.885897721180985 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1420.2113767304002, + -178.38490485956487, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1422.8094529417535, + -179.88490485956487, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1425.407529153107, + -181.38490485956487, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1428.0056053644603, + -182.88490485956487, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1430.6036815758137, + -184.38490485956487, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1433.201757787167, + -185.88490485956487, + 1.885897721180985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1435.7998339985204, + -187.38490485956487, + 1.885897721180985 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-36-22_1326247643/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-36-22_1326247643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..087292b411cf929daf1afc5823d6d4f6f2020710 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-36-22_1326247643/pose.jsonl @@ -0,0 +1,1159 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 49.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 52.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 55.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 58.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 61.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 64.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 67.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 70.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 73.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 76.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 79.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 82.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 85.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 91.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 91.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 91.86213170651918, + 122.50335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 93.36213170651918, + 119.90528067592615, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 94.86213170651918, + 117.30720446457283, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 96.36213170651918, + 114.70912825321952, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 97.86213170651918, + 112.1110520418662, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 99.36213170651918, + 109.51297583051289, + -4.354936013078748 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 99.36213170651918, + 109.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 101.9602079178725, + 108.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 104.55828412922581, + 106.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 107.15636034057913, + 105.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 109.75443655193244, + 103.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 112.35251276328576, + 102.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 114.95058897463907, + 100.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 117.54866518599239, + 99.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 120.1467413973457, + 97.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 122.74481760869902, + 96.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 125.34289382005234, + 94.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 127.94097003140566, + 93.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 130.53904624275896, + 91.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983013 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 133.13712245411227, + 90.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 135.7351986654656, + 88.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 138.3332748768189, + 87.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 140.93135108817222, + 85.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 143.52942729952554, + 84.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 146.12750351087885, + 82.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 148.72557972223217, + 81.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 151.32365593358548, + 79.51297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 153.9217321449388, + 78.01297583051289, + -4.354936013078748 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 153.9217321449388, + 78.01297583051289, + -4.354936013078748 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 153.9217321449388, + 78.01297583051289, + -4.354936013078748 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 153.9217321449388, + 78.01297583051289, + -4.354936013078748 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 153.9217321449388, + 78.01297583051289, + -4.354936013078748 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 153.9217321449388, + 78.01297583051289, + -4.354936013078748 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 153.9217321449388, + 78.01297583051289, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 152.4217321449388, + 80.6110520418662, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 150.9217321449388, + 83.20912825321952, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 149.4217321449388, + 85.80720446457283, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 147.9217321449388, + 88.40528067592615, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 146.4217321449388, + 91.00335688727947, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 144.9217321449388, + 93.60143309863278, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 143.4217321449388, + 96.1995093099861, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 141.9217321449388, + 98.79758552133941, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 140.4217321449388, + 101.39566173269273, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 138.9217321449388, + 103.99373794404605, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 137.4217321449388, + 106.59181415539936, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 135.9217321449388, + 109.18989036675268, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 134.4217321449388, + 111.787966578106, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 132.9217321449388, + 114.38604278945931, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 131.4217321449388, + 116.98411900081263, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 129.9217321449388, + 119.58219521216594, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 128.4217321449388, + 122.18027142351926, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 126.9217321449388, + 124.77834763487257, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 125.4217321449388, + 127.37642384622589, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 123.9217321449388, + 129.9745000575792, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 122.4217321449388, + 132.57257626893252, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 120.9217321449388, + 135.17065248028584, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 119.4217321449388, + 137.76872869163915, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 117.9217321449388, + 140.36680490299247, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 116.4217321449388, + 142.9648811143458, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 114.9217321449388, + 145.5629573256991, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 113.4217321449388, + 148.16103353705242, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 111.9217321449388, + 150.75910974840573, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 110.4217321449388, + 153.35718595975905, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 108.9217321449388, + 155.95526217111237, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 107.4217321449388, + 158.55333838246568, + -4.354936013078748 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 107.4217321449388, + 158.55333838246568, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 107.4217321449388, + 161.55333838246568, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 107.4217321449388, + 164.55333838246568, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 107.4217321449388, + 167.55333838246568, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + 107.4217321449388, + 170.55333838246568, + -4.354936013078748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + 107.4217321449388, + 173.55333838246568, + -4.354936013078748 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-37-38_1663080928/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-37-38_1663080928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50d2ee6dbd94856e3aca7b943856bdefee6e8cd8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-37-38_1663080928/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1296.1257738689467, + -130.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1298.7238500803, + -129.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1301.3219262916534, + -127.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1303.9200025030068, + -126.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1306.5180787143602, + -124.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1309.1161549257135, + -123.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1311.714231137067, + -121.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1314.3123073484203, + -120.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1316.9103835597737, + -118.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1319.508459771127, + -117.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1322.1065359824804, + -115.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1324.7046121938338, + -114.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1327.3026884051872, + -112.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1329.9007646165405, + -111.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1332.498840827894, + -109.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1335.0969170392473, + -108.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1337.6949932506006, + -106.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1340.293069461954, + -105.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1342.8911456733074, + -103.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1345.4892218846608, + -102.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1348.0872980960141, + -100.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1350.6853743073675, + -99.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1353.2834505187209, + -97.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1355.8815267300743, + -96.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1358.4796029414276, + -94.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1361.077679152781, + -93.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1363.6757553641344, + -91.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1366.2738315754877, + -90.16375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1368.8719077868411, + -88.66375769810688, + 2.0740230066519247 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1368.8719077868411, + -88.66375769810688, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1370.3719077868411, + -86.06568148675356, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1371.8719077868411, + -83.46760527540025, + 2.0740230066519247 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1371.8719077868411, + -83.46760527540025, + 2.0740230066519247 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1371.8719077868411, + -83.46760527540025, + 2.0740230066519247 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1371.8719077868411, + -83.46760527540025, + 2.0740230066519247 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1371.8719077868411, + -83.46760527540025, + 2.0740230066519247 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1371.8719077868411, + -83.46760527540025, + 2.0740230066519247 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1371.8719077868411, + -83.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1371.8719077868411, + -86.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1371.8719077868411, + -89.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1371.8719077868411, + -92.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1371.8719077868411, + -95.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1371.8719077868411, + -98.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1371.8719077868411, + -101.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1371.8719077868411, + -104.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1371.8719077868411, + -107.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1371.8719077868411, + -110.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1371.8719077868411, + -113.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1371.8719077868411, + -116.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1371.8719077868411, + -119.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1371.8719077868411, + -122.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1371.8719077868411, + -125.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1371.8719077868411, + -128.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1371.8719077868411, + -131.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1371.8719077868411, + -134.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1371.8719077868411, + -137.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1371.8719077868411, + -140.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1371.8719077868411, + -143.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1371.8719077868411, + -146.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1371.8719077868411, + -149.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1371.8719077868411, + -152.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1371.8719077868411, + -155.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1371.8719077868411, + -158.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1371.8719077868411, + -161.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1371.8719077868411, + -164.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1371.8719077868411, + -167.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1371.8719077868411, + -170.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1371.8719077868411, + -173.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1371.8719077868411, + -176.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1371.8719077868411, + -179.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1371.8719077868411, + -182.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1371.8719077868411, + -185.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1371.8719077868411, + -188.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1371.8719077868411, + -191.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1371.8719077868411, + -194.46760527540025, + 2.0740230066519247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1371.8719077868411, + -197.46760527540025, + 2.0740230066519247 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-39-50_370917955/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-39-50_370917955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58a9c0e7f0ce1023669682037e0f3e6da6036dee --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-39-50_370917955/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -100.2974472222381, + -116.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.89552343359142, + -117.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -105.49359964494474, + -119.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -108.09167585629805, + -120.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -110.68975206765137, + -122.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -113.28782827900469, + -123.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -115.885904490358, + -125.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -118.48398070171132, + -126.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -121.08205691306463, + -128.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914984 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.68013312441795, + -129.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -126.27820933577127, + -131.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -128.87628554712458, + -132.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -131.4743617584779, + -134.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -134.0724379698312, + -135.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -136.67051418118453, + -137.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -139.26859039253785, + -138.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.86666660389116, + -140.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -144.46474281524448, + -141.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -147.0628190265978, + -143.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.6608952379511, + -144.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -152.25897144930443, + -146.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -154.85704766065774, + -147.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -157.45512387201106, + -149.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -160.05320008336437, + -150.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -162.6512762947177, + -152.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -165.249352506071, + -153.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -167.84742871742432, + -155.2141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -170.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -170.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -173.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -176.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -179.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -182.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -185.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -188.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -191.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -194.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -197.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -200.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -200.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -200.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -200.44550492877764, + -156.7141136715919, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -198.94550492877764, + -159.3121898829452, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -197.44550492877764, + -161.91026609429852, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -195.94550492877764, + -164.50834230565184, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -194.44550492877764, + -167.10641851700515, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -192.94550492877764, + -169.70449472835847, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -191.44550492877764, + -172.30257093971179, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -189.94550492877764, + -174.9006471510651, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -188.44550492877764, + -177.49872336241842, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -186.94550492877764, + -180.09679957377173, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -185.44550492877764, + -182.69487578512505, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -183.94550492877764, + -185.29295199647837, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -182.44550492877764, + -187.89102820783168, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -180.94550492877764, + -190.489104419185, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -179.44550492877764, + -193.0871806305383, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -177.94550492877764, + -195.68525684189163, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -176.44550492877764, + -198.28333305324495, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -174.94550492877764, + -200.88140926459826, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -173.44550492877764, + -203.47948547595158, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -171.94550492877764, + -206.0775616873049, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -170.44550492877764, + -208.6756378986582, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -168.94550492877764, + -211.27371411001153, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -167.44550492877764, + -213.87179032136484, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -165.94550492877764, + -216.46986653271816, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -164.44550492877764, + -219.06794274407147, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -162.94550492877764, + -221.6660189554248, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -161.44550492877764, + -224.2640951667781, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -159.94550492877764, + -226.86217137813142, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -158.44550492877764, + -229.46024758948474, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -156.94550492877764, + -232.05832380083805, + 4.31021433106867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -155.44550492877764, + -234.65640001219137, + 4.31021433106867 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-4-15_1979015720/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-4-15_1979015720/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b87bc3575cfa83ed0e6071a7f0fc804205aaf249 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-4-15_1979015720/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1046.9898329530322, + -306.46687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1044.3917567416788, + -304.96687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1041.7936805303254, + -303.46687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1039.195604318972, + -301.96687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1036.5975281076187, + -300.46687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1033.9994518962653, + -298.96687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1031.401375684912, + -297.46687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1028.8032994735586, + -295.96687096958175, + -2.149830271852009 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1028.8032994735586, + -295.96687096958175, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1027.3032994735586, + -293.36879475822843, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1025.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1025.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1025.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1025.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1022.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1019.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1016.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1013.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1010.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1007.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1004.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1001.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 998.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 995.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 992.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 989.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 986.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 983.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 980.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 980.8032994735586, + -290.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 978.2052232622052, + -289.2707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 975.6071470508518, + -287.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 973.0090708394985, + -286.2707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 970.4109946281451, + -284.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 967.8129184167917, + -283.2707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 965.2148422054383, + -281.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 962.616765994085, + -280.2707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 960.0186897827316, + -278.7707185468751, + -2.149830271852009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 957.4206135713782, + -277.2707185468751, + -2.149830271852009 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-4-37_476152433/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-4-37_476152433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8fa9bed6b7a1aedd283f003abe648a6481f5e25 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-4-37_476152433/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1356.4156746445976, + -142.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1359.013750855951, + -143.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1361.6118270673044, + -145.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1364.2099032786577, + -146.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1366.8079794900111, + -148.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1369.4060557013645, + -149.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1372.0041319127179, + -151.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1374.6022081240712, + -152.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1377.2002843354246, + -154.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1379.798360546778, + -155.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1382.3964367581314, + -157.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1384.9945129694847, + -158.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1387.592589180838, + -160.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1390.1906653921915, + -161.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1392.7887416035448, + -163.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1395.3868178148982, + -164.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1397.9848940262516, + -166.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1400.582970237605, + -167.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1403.1810464489583, + -169.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1405.7791226603117, + -170.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1408.377198871665, + -172.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1410.9752750830185, + -173.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1413.5733512943718, + -175.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1416.1714275057252, + -176.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1418.7695037170786, + -178.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1421.367579928432, + -179.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1423.9656561397853, + -181.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1426.5637323511387, + -182.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1429.161808562492, + -184.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1431.7598847738454, + -185.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1434.3579609851988, + -187.13483815723848, + -1.4573735850671303 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1434.3579609851988, + -187.13483815723848, + -1.4573735850671303 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1434.3579609851988, + -187.13483815723848, + -1.4573735850671303 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1434.3579609851988, + -187.13483815723848, + -1.4573735850671303 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1434.3579609851988, + -187.13483815723848, + -1.4573735850671303 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1434.3579609851988, + -187.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1431.7598847738454, + -188.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1429.161808562492, + -190.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1426.5637323511387, + -191.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1423.9656561397853, + -193.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1421.367579928432, + -194.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1418.7695037170786, + -196.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1416.1714275057252, + -197.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1413.5733512943718, + -199.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1410.9752750830185, + -200.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1408.377198871665, + -202.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1405.7791226603117, + -203.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1403.1810464489583, + -205.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1400.582970237605, + -206.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1397.9848940262516, + -208.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1395.3868178148982, + -209.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1392.7887416035448, + -211.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1390.1906653921915, + -212.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1387.592589180838, + -214.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1384.9945129694847, + -215.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1382.3964367581314, + -217.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1379.798360546778, + -218.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1377.2002843354246, + -220.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1374.6022081240712, + -221.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1372.0041319127179, + -223.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1369.4060557013645, + -224.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1366.8079794900111, + -226.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1364.2099032786577, + -227.63483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1361.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1361.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1358.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1355.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1352.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1349.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1346.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1343.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1340.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1337.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1334.6118270673044, + -229.13483815723848, + -1.4573735850671303 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-42-37_1390543437/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-42-37_1390543437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8da91ab847abce3939f7e9258a768ae83a364485 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-42-37_1390543437/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 61.77708793257068, + 117.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.77708793257068, + 114.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 61.77708793257068, + 111.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 61.77708793257068, + 108.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 61.77708793257068, + 105.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 61.77708793257068, + 102.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 61.77708793257068, + 99.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 61.77708793257068, + 96.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 61.77708793257068, + 93.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 61.77708793257068, + 90.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 61.77708793257068, + 87.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 61.77708793257068, + 84.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 61.77708793257068, + 81.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 61.77708793257068, + 78.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 61.77708793257068, + 75.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 61.77708793257068, + 72.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 61.77708793257068, + 69.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 61.77708793257068, + 66.99712766371194, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 61.77708793257068, + 63.997127663711936, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 61.77708793257068, + 60.997127663711936, + 2.1681060879452474 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 61.77708793257068, + 60.997127663711936, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 60.27708793257068, + 58.39905145235862, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 58.77708793257068, + 55.800975241005304, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 57.27708793257068, + 53.20289902965199, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 55.77708793257068, + 50.60482281829867, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 54.27708793257068, + 48.006746606945356, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 52.77708793257068, + 45.40867039559204, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 51.27708793257068, + 42.810594184238724, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 49.77708793257068, + 40.21251797288541, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 48.27708793257068, + 37.61444176153209, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 46.77708793257068, + 35.016365550178776, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 45.27708793257068, + 32.41828933882546, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 43.77708793257068, + 29.820213127472144, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 42.27708793257068, + 27.222136916118828, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 40.77708793257068, + 24.624060704765512, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 39.27708793257068, + 22.025984493412196, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 37.77708793257068, + 19.42790828205888, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 36.27708793257068, + 16.829832070705564, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 34.77708793257068, + 14.231755859352248, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 33.27708793257068, + 11.633679647998932, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 31.77708793257068, + 9.035603436645616, + 2.1681060879452474 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 31.77708793257068, + 9.035603436645616, + 2.1681060879452474 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 31.77708793257068, + 9.035603436645616, + 2.1681060879452474 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 31.77708793257068, + 9.035603436645616, + 2.1681060879452474 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 31.77708793257068, + 9.035603436645616, + 2.1681060879452474 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 31.77708793257068, + 9.035603436645616, + 2.1681060879452474 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 31.77708793257068, + 9.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 34.375164143923996, + 10.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 36.97324035527731, + 12.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 39.57131656663063, + 13.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 42.169392777983944, + 15.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 44.76746898933726, + 16.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 47.365545200690576, + 18.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 49.96362141204389, + 19.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 52.56169762339721, + 21.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 55.159773834750524, + 22.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 57.75785004610384, + 24.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 60.355926257457156, + 25.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 62.95400246881047, + 27.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 65.55207868016379, + 28.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 68.1501548915171, + 30.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 70.74823110287042, + 31.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 73.34630731422374, + 33.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 75.94438352557705, + 34.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 78.54245973693037, + 36.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 81.14053594828368, + 37.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 83.738612159637, + 39.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 86.33668837099032, + 40.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 88.93476458234363, + 42.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 91.53284079369695, + 43.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 94.13091700505026, + 45.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 96.72899321640358, + 46.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 99.3270694277569, + 48.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 101.92514563911021, + 49.535603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 104.52322185046353, + 51.035603436645616, + 2.1681060879452474 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 104.52322185046353, + 51.035603436645616, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 106.02322185046353, + 53.63367964799893, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 107.52322185046353, + 56.23175585935225, + 2.1681060879452474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 109.02322185046353, + 58.829832070705564, + 2.1681060879452474 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-43-15_216220853/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-43-15_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8859c14681137ba9fefa073161e628b84e0c47d9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-43-15_216220853/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1420.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1417.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1414.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1411.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1408.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1405.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1402.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1399.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1396.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1393.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1390.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1387.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1384.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1381.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1378.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1375.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1372.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1369.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1366.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1366.7444155536066, + -245.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1364.1463393422532, + -244.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1361.5482631308998, + -242.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1358.9501869195465, + -241.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1356.352110708193, + -239.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1353.7540344968397, + -238.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1351.1559582854863, + -236.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1348.557882074133, + -235.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1345.9598058627796, + -233.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1343.3617296514262, + -232.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1340.7636534400729, + -230.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1338.1655772287195, + -229.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1335.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1335.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1335.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1335.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1335.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1335.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1335.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1338.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1341.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1344.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1347.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1350.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1353.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1356.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1359.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1359.567501017366, + -227.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1362.1655772287195, + -226.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1364.7636534400729, + -224.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1367.3617296514262, + -223.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1369.9598058627796, + -221.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1372.557882074133, + -220.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1375.1559582854863, + -218.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1377.7540344968397, + -217.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1380.352110708193, + -215.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1382.9501869195465, + -214.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1385.5482631308998, + -212.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1388.1463393422532, + -211.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1390.7444155536066, + -209.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1393.34249176496, + -208.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1395.9405679763133, + -206.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1398.5386441876667, + -205.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1401.13672039902, + -203.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1403.7347966103735, + -202.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1406.3328728217268, + -200.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1408.9309490330802, + -199.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1411.5290252444336, + -197.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1414.127101455787, + -196.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1416.7251776671403, + -194.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1419.3232538784937, + -193.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1421.921330089847, + -191.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1424.5194063012004, + -190.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1427.1174825125538, + -188.8646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1429.7155587239072, + -187.3646007357346, + 3.86745937416112 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1429.7155587239072, + -187.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1432.7155587239072, + -187.3646007357346, + 3.86745937416112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1435.7155587239072, + -187.3646007357346, + 3.86745937416112 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-47-4_1610009097/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-47-4_1610009097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff5fd8b43ef581bd966cf8b4789e1081e3123629 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-47-4_1610009097/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1470.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1467.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1464.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1461.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1458.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1455.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1452.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1449.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1446.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1443.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1440.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1437.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1434.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1431.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1428.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1425.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1422.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1419.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1416.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1413.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1410.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1410.6625329606704, + -87.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1408.064456749317, + -85.60070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1405.4663805379637, + -84.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1402.8683043266103, + -82.60070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1400.270228115257, + -81.10070586639812, + -2.4447930691847466 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1400.270228115257, + -81.10070586639812, + -2.4447930691847466 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1400.270228115257, + -81.10070586639812, + -2.4447930691847466 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1400.270228115257, + -81.10070586639812, + -2.4447930691847466 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1400.270228115257, + -81.10070586639812, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1401.770228115257, + -78.5026296550448, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1403.270228115257, + -75.90455344369148, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1404.770228115257, + -73.30647723233817, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1406.270228115257, + -70.70840102098485, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1407.770228115257, + -68.11032480963154, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1409.270228115257, + -65.51224859827822, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1410.770228115257, + -62.9141723869249, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1412.270228115257, + -60.31609617557159, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1413.770228115257, + -57.71801996421827, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1415.270228115257, + -55.119943752864955, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1416.770228115257, + -52.52186754151164, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1418.270228115257, + -49.92379133015832, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1419.770228115257, + -47.32571511880501, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1421.270228115257, + -44.72763890745169, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1422.770228115257, + -42.129562696098375, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1424.270228115257, + -39.53148648474506, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1425.770228115257, + -36.93341027339174, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1427.270228115257, + -34.33533406203843, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1428.770228115257, + -31.73725785068511, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1430.270228115257, + -29.139181639331795, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1431.770228115257, + -26.54110542797848, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1433.270228115257, + -23.943029216625163, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1434.770228115257, + -21.344953005271847, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1436.270228115257, + -18.74687679391853, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1437.770228115257, + -16.148800582565215, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1439.270228115257, + -13.5507243712119, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1440.770228115257, + -10.952648159858583, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1442.270228115257, + -8.354571948505267, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1443.770228115257, + -5.756495737151951, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1445.270228115257, + -3.158419525798635, + -2.4447930691847466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1446.770228115257, + -0.5603433144453192, + -2.4447930691847466 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-48-35_846621269/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-48-35_846621269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f475cd6752814a71aa784e0b01839aa85c070d59 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-48-35_846621269/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 10.053141889762749, + 77.19789694458507, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.553141889762749, + 79.79597315593838, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 13.053141889762749, + 82.3940493672917, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 14.553141889762749, + 84.99212557864502, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 16.05314188976275, + 87.59020178999833, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.55314188976275, + 90.18827800135165, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 19.05314188976275, + 92.78635421270496, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 20.55314188976275, + 95.38443042405828, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 22.05314188976275, + 97.9825066354116, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 23.55314188976275, + 100.58058284676491, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 25.05314188976275, + 103.17865905811823, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 26.55314188976275, + 105.77673526947154, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 28.05314188976275, + 108.37481148082486, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 29.55314188976275, + 110.97288769217818, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 31.05314188976275, + 113.57096390353149, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 32.55314188976275, + 116.16904011488481, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 34.05314188976275, + 118.76711632623812, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 35.55314188976275, + 121.36519253759144, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 37.05314188976275, + 123.96326874894476, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 38.55314188976275, + 126.56134496029807, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 40.05314188976275, + 129.1594211716514, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 41.55314188976275, + 131.7574973830047, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 43.05314188976275, + 134.35557359435802, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 44.55314188976275, + 136.95364980571134, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 46.05314188976275, + 139.55172601706465, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 47.55314188976275, + 142.14980222841797, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 49.05314188976275, + 144.74787843977128, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 50.55314188976275, + 147.3459546511246, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 52.05314188976275, + 149.94403086247792, + 0.23860867983411804 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 52.05314188976275, + 149.94403086247792, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 54.651218101116065, + 151.44403086247792, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 57.24929431246938, + 152.94403086247792, + 0.23860867983411804 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 57.24929431246938, + 152.94403086247792, + 0.23860867983411804 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 57.24929431246938, + 152.94403086247792, + 0.23860867983411804 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 57.24929431246938, + 152.94403086247792, + 0.23860867983411804 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 57.24929431246938, + 152.94403086247792, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 58.74929431246938, + 150.3459546511246, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 60.24929431246938, + 147.74787843977128, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 61.74929431246938, + 145.14980222841797, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 63.24929431246938, + 142.55172601706465, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 64.74929431246939, + 139.95364980571134, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965956 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 66.24929431246939, + 137.35557359435802, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 67.74929431246939, + 134.7574973830047, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 69.24929431246939, + 132.1594211716514, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 70.74929431246939, + 129.56134496029807, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 72.24929431246939, + 126.96326874894476, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 73.74929431246939, + 124.36519253759144, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 75.24929431246939, + 121.76711632623812, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 76.74929431246939, + 119.16904011488481, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 78.24929431246939, + 116.57096390353149, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 79.74929431246939, + 113.97288769217818, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 81.24929431246939, + 111.37481148082486, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 82.74929431246939, + 108.77673526947154, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 84.24929431246939, + 106.17865905811823, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 85.74929431246939, + 103.58058284676491, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 87.24929431246939, + 100.9825066354116, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 88.74929431246939, + 98.38443042405828, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 90.24929431246939, + 95.78635421270496, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 91.74929431246939, + 93.18827800135165, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 93.24929431246939, + 90.59020178999833, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 94.74929431246939, + 87.99212557864502, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 96.24929431246939, + 85.3940493672917, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 97.74929431246939, + 82.79597315593838, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 99.24929431246939, + 80.19789694458507, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 100.74929431246939, + 77.59982073323175, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 102.24929431246939, + 75.00174452187844, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 103.74929431246939, + 72.40366831052512, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 105.24929431246939, + 69.8055920991718, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 106.74929431246939, + 67.20751588781849, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 108.24929431246939, + 64.60943967646517, + 0.23860867983411804 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 109.74929431246939, + 62.011363465111856, + 0.23860867983411804 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-52-14_1892430639/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-52-14_1892430639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ec509f6fe5e0f99621f60a6e36141f41a22e04d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-52-14_1892430639/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.89107521919027, + -432.70045729513464, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 387.39107521919027, + -435.29853350648796, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.89107521919027, + -437.8966097178413, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.39107521919027, + -440.4946859291946, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.89107521919027, + -443.0927621405479, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 393.39107521919027, + -445.6908383519012, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.89107521919027, + -448.28891456325454, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 396.39107521919027, + -450.88699077460785, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 397.89107521919027, + -453.48506698596117, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 399.39107521919027, + -456.0831431973145, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 400.89107521919027, + -458.6812194086678, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 402.39107521919027, + -461.2792956200211, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 403.89107521919027, + -463.87737183137443, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 405.39107521919027, + -466.47544804272775, + -1.6431264059907669 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 405.39107521919027, + -466.47544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 407.9891514305436, + -467.97544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 410.5872276418969, + -469.47544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 413.1853038532502, + -470.97544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 415.78338006460353, + -472.47544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.38145627595685, + -473.97544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 420.97953248731017, + -475.47544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 423.5776086986635, + -476.97544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.1756849100168, + -478.47544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 428.7737611213701, + -479.97544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.37183733272343, + -481.47544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 433.96991354407675, + -482.97544804272775, + -1.6431264059907669 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 433.96991354407675, + -482.97544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 435.46991354407675, + -485.57352425408106, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.96991354407675, + -488.1716004654344, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.46991354407675, + -490.7696766767877, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 439.96991354407675, + -493.367752888141, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 441.46991354407675, + -495.96582909949433, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 442.96991354407675, + -498.56390531084764, + -1.6431264059907669 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 442.96991354407675, + -498.56390531084764, + -1.6431264059907669 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 442.96991354407675, + -498.56390531084764, + -1.6431264059907669 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 442.96991354407675, + -498.56390531084764, + -1.6431264059907669 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 442.96991354407675, + -498.56390531084764, + -1.6431264059907669 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 442.96991354407675, + -498.56390531084764, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 444.46991354407675, + -495.96582909949433, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 445.96991354407675, + -493.367752888141, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 447.46991354407675, + -490.7696766767877, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 448.96991354407675, + -488.1716004654344, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 450.46991354407675, + -485.57352425408106, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 451.96991354407675, + -482.97544804272775, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 453.46991354407675, + -480.37737183137443, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 454.96991354407675, + -477.7792956200211, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 456.46991354407675, + -475.1812194086678, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 457.96991354407675, + -472.5831431973145, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 459.46991354407675, + -469.98506698596117, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 460.96991354407675, + -467.38699077460785, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 462.46991354407675, + -464.78891456325454, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 463.96991354407675, + -462.1908383519012, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 465.46991354407675, + -459.5927621405479, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 466.96991354407675, + -456.9946859291946, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 468.46991354407675, + -454.3966097178413, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 469.96991354407675, + -451.79853350648796, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 471.46991354407675, + -449.20045729513464, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 472.96991354407675, + -446.6023810837813, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 474.46991354407675, + -444.004304872428, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 475.96991354407675, + -441.4062286610747, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 477.46991354407675, + -438.8081524497214, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 478.96991354407675, + -436.21007623836806, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 480.46991354407675, + -433.61200002701474, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 481.96991354407675, + -431.0139238156614, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 483.46991354407675, + -428.4158476043081, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 484.96991354407675, + -425.8177713929548, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 486.46991354407675, + -423.2196951816015, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 487.96991354407675, + -420.62161897024816, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 489.46991354407675, + -418.02354275889485, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 490.96991354407675, + -415.42546654754153, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 492.46991354407675, + -412.8273903361882, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 493.96991354407675, + -410.2293141248349, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 495.46991354407675, + -407.6312379134816, + -1.6431264059907669 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 495.46991354407675, + -407.6312379134816, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 495.46991354407675, + -404.6312379134816, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 495.46991354407675, + -401.6312379134816, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 495.46991354407675, + -398.6312379134816, + -1.6431264059907669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 495.46991354407675, + -395.6312379134816, + -1.6431264059907669 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-52-50_1449228398/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-52-50_1449228398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03d47e4d0b5a2297aef3d1dd8172b34ea99bcaed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-52-50_1449228398/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2.6178094921668276, + -609.1042925794521, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4.117809492166828, + -611.7023687908054, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 5.617809492166828, + -614.3004450021588, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 7.117809492166828, + -616.8985212135121, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 8.617809492166828, + -619.4965974248655, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 10.117809492166828, + -622.0946736362189, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 11.617809492166828, + -624.6927498475723, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 13.117809492166828, + -627.2908260589256, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 14.617809492166828, + -629.888902270279, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 16.117809492166828, + -632.4869784816324, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 17.617809492166828, + -635.0850546929858, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 19.117809492166828, + -637.6831309043391, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 20.617809492166828, + -640.2812071156925, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 22.117809492166828, + -642.8792833270459, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 23.617809492166828, + -645.4773595383992, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 25.117809492166828, + -648.0754357497526, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 26.617809492166828, + -650.673511961106, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.117809492166828, + -653.2715881724594, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 29.617809492166828, + -655.8696643838127, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 31.117809492166828, + -658.4677405951661, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 32.61780949216683, + -661.0658168065195, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 34.11780949216683, + -663.6638930178729, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 35.61780949216683, + -666.2619692292262, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 37.11780949216683, + -668.8600454405796, + -2.2552346045352687 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 37.11780949216683, + -668.8600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 39.715885703520144, + -670.3600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.31396191487346, + -671.8600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 44.912038126226776, + -673.3600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 47.51011433758009, + -674.8600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 50.10819054893341, + -676.3600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 52.706266760286724, + -677.8600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 55.30434297164004, + -679.3600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 57.902419182993356, + -680.8600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 60.50049539434667, + -682.3600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 63.09857160569999, + -683.8600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 65.6966478170533, + -685.3600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 68.29472402840662, + -686.8600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 70.89280023975994, + -688.3600454405796, + -2.2552346045352687 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 70.89280023975994, + -688.3600454405796, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 72.39280023975994, + -690.958121651933, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 73.89280023975994, + -693.5561978632863, + -2.2552346045352687 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 73.89280023975994, + -693.5561978632863, + -2.2552346045352687 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 73.89280023975994, + -693.5561978632863, + -2.2552346045352687 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932046 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 73.89280023975994, + -693.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 71.29472402840662, + -695.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 68.6966478170533, + -696.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 66.09857160569999, + -698.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 63.50049539434667, + -699.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 60.902419182993356, + -701.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 58.30434297164004, + -702.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 55.706266760286724, + -704.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 53.10819054893341, + -705.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 50.51011433758009, + -707.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 47.912038126226776, + -708.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 45.31396191487346, + -710.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 42.715885703520144, + -711.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 40.11780949216683, + -713.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 37.51973328081351, + -714.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 34.921657069460196, + -716.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 32.32358085810688, + -717.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 29.725504646753564, + -719.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 27.127428435400248, + -720.5561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 24.52935222404693, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 24.52935222404693, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 21.52935222404693, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 18.52935222404693, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 15.529352224046931, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 12.529352224046931, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 9.529352224046931, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 6.5293522240469315, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 3.5293522240469315, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 0.5293522240469315, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -2.4706477759530685, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -5.4706477759530685, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -8.470647775953069, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -11.470647775953069, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -14.470647775953069, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -17.47064777595307, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -20.47064777595307, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -23.47064777595307, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -26.47064777595307, + -722.0561978632863, + -2.2552346045352687 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-56-13_1238498976/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-56-13_1238498976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf9357de22f7d73a38f0e840fb70300c64e5e70c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-56-13_1238498976/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -112.03929964048285, + -307.61101088789565, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -113.53929964048285, + -305.01293467654233, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -115.03929964048285, + -302.414858465189, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -116.53929964048285, + -299.8167822538357, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -118.03929964048285, + -297.2187060424824, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -119.53929964048285, + -294.62062983112907, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -121.03929964048285, + -292.02255361977575, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -122.53929964048285, + -289.42447740842243, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -124.03929964048285, + -286.8264011970691, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -125.53929964048285, + -284.2283249857158, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -127.03929964048285, + -281.6302487743625, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -128.53929964048285, + -279.03217256300917, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -130.03929964048285, + -276.43409635165585, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -131.53929964048285, + -273.83602014030254, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -133.03929964048285, + -271.2379439289492, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -134.53929964048285, + -268.6398677175959, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -136.03929964048285, + -266.0417915062426, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -137.53929964048285, + -263.4437152948893, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -139.03929964048285, + -260.84563908353596, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -140.53929964048285, + -258.24756287218264, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -142.03929964048285, + -255.64948666082933, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -143.53929964048285, + -253.051410449476, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -145.03929964048285, + -250.4533342381227, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -146.53929964048285, + -247.85525802676938, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -148.03929964048285, + -245.25718181541606, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -149.53929964048285, + -242.65910560406274, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -151.03929964048285, + -240.06102939270943, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -152.53929964048285, + -237.4629531813561, + 2.970820975472222 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -152.53929964048285, + -237.4629531813561, + 2.970820975472222 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -152.53929964048285, + -237.4629531813561, + 2.970820975472222 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -152.53929964048285, + -237.4629531813561, + 2.970820975472222 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -152.53929964048285, + -237.4629531813561, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -149.94122342912954, + -235.9629531813561, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -147.34314721777622, + -234.4629531813561, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -144.7450710064229, + -232.9629531813561, + 2.970820975472222 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -144.7450710064229, + -232.9629531813561, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -143.2450710064229, + -230.3648769700028, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -141.7450710064229, + -227.76680075864948, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -140.2450710064229, + -225.16872454729616, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -138.7450710064229, + -222.57064833594285, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -137.2450710064229, + -219.97257212458953, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -135.7450710064229, + -217.37449591323622, + 2.970820975472222 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -135.7450710064229, + -217.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -135.7450710064229, + -214.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -135.7450710064229, + -211.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -135.7450710064229, + -208.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -135.7450710064229, + -205.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -135.7450710064229, + -202.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -135.7450710064229, + -199.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -135.7450710064229, + -196.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -135.7450710064229, + -193.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -135.7450710064229, + -190.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -135.7450710064229, + -187.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -135.7450710064229, + -184.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -135.7450710064229, + -181.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -135.7450710064229, + -178.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -135.7450710064229, + -175.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -135.7450710064229, + -172.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -135.7450710064229, + -169.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -135.7450710064229, + -166.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -135.7450710064229, + -163.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -135.7450710064229, + -160.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -135.7450710064229, + -157.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -135.7450710064229, + -154.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -135.7450710064229, + -151.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -135.7450710064229, + -148.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -135.7450710064229, + -145.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -135.7450710064229, + -142.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -135.7450710064229, + -139.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -135.7450710064229, + -136.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -135.7450710064229, + -133.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -135.7450710064229, + -130.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -135.7450710064229, + -127.37449591323622, + 2.970820975472222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -135.7450710064229, + -124.37449591323622, + 2.970820975472222 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-58-48_1031126087/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-58-48_1031126087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e55c85e96dc6e29c9a7b01170d9104675beb16e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-58-48_1031126087/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 818.7869911437974, + -530.8511527184626, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 817.2869911437974, + -528.2530765071092, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 815.7869911437974, + -525.6550002957558, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 814.2869911437974, + -523.0569240844025, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 812.7869911437974, + -520.4588478730491, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 811.2869911437974, + -517.8607716616957, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 809.7869911437974, + -515.2626954503423, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 808.2869911437974, + -512.664619238989, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 806.7869911437974, + -510.06654302763565, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 805.2869911437974, + -507.46846681628233, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 803.7869911437974, + -504.870390604929, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 802.2869911437974, + -502.2723143935757, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 800.7869911437974, + -499.6742381822224, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 799.2869911437974, + -497.07616197086907, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 797.7869911437974, + -494.47808575951575, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 796.2869911437974, + -491.88000954816243, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 794.7869911437974, + -489.2819333368091, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 793.2869911437974, + -486.6838571254558, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 791.7869911437974, + -484.0857809141025, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 790.2869911437974, + -481.48770470274917, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 788.7869911437974, + -478.88962849139585, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 787.2869911437974, + -476.29155228004254, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 785.7869911437974, + -473.6934760686892, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 784.2869911437974, + -471.0953998573359, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 782.7869911437974, + -468.4973236459826, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 781.2869911437974, + -465.8992474346293, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 779.7869911437974, + -463.30117122327596, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 778.2869911437974, + -460.70309501192264, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 776.7869911437974, + -458.1050188005693, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 775.2869911437974, + -455.506942589216, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 773.7869911437974, + -452.9088663778627, + 4.755452890985346 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 773.7869911437974, + -452.9088663778627, + 4.755452890985346 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 773.7869911437974, + -452.9088663778627, + 4.755452890985346 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 773.7869911437974, + -452.9088663778627, + 4.755452890985346 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 773.7869911437974, + -452.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 776.3850673551508, + -451.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 778.9831435665042, + -449.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 781.5812197778575, + -448.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 784.1792959892109, + -446.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 786.7773722005643, + -445.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 789.3754484119177, + -443.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 791.973524623271, + -442.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 794.5716008346244, + -440.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 797.1696770459778, + -439.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 799.7677532573312, + -437.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 802.3658294686845, + -436.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 804.9639056800379, + -434.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 807.5619818913913, + -433.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 810.1600581027446, + -431.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 812.758134314098, + -430.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 815.3562105254514, + -428.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 817.9542867368048, + -427.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 820.5523629481581, + -425.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 823.1504391595115, + -424.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 825.7485153708649, + -422.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 828.3465915822183, + -421.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 830.9446677935716, + -419.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 833.542744004925, + -418.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 836.1408202162784, + -416.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 838.7388964276317, + -415.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 841.3369726389851, + -413.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 843.9350488503385, + -412.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 846.5331250616919, + -410.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 849.1312012730452, + -409.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 851.7292774843986, + -407.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 854.327353695752, + -406.4088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 856.9254299071054, + -404.9088663778627, + 4.755452890985346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 856.9254299071054, + -404.9088663778627, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 858.4254299071054, + -402.3107901665094, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 859.9254299071054, + -399.71271395515606, + 4.755452890985346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 861.4254299071054, + -397.11463774380275, + 4.755452890985346 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-59-20_1043388777/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-59-20_1043388777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8349dfa2ac690abdbd2431630c25d7f267207142 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-59-20_1043388777/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1421.959671574433, + -177.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1421.959671574433, + -174.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1421.959671574433, + -171.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1421.959671574433, + -168.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1421.959671574433, + -165.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1421.959671574433, + -162.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1421.959671574433, + -159.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1421.959671574433, + -156.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1421.959671574433, + -153.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1421.959671574433, + -150.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1421.959671574433, + -147.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1421.959671574433, + -144.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1421.959671574433, + -141.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1421.959671574433, + -138.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1421.959671574433, + -135.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1421.959671574433, + -132.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1421.959671574433, + -129.4534301058392, + 2.418409895789379 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1421.959671574433, + -129.4534301058392, + 2.418409895789379 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1421.959671574433, + -129.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1424.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1424.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "turn right", + "value": 30, + "yaw": 1.1102230246251565e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1424.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1427.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1430.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1433.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1436.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1439.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1442.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1445.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1448.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1451.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1454.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1457.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1460.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1463.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1466.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1469.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1472.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1475.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1475.5577477857864, + -127.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1478.1558239971398, + -126.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1480.7539002084932, + -124.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1483.3519764198466, + -123.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1485.9500526312, + -121.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1488.5481288425533, + -120.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1491.1462050539067, + -118.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1493.74428126526, + -117.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1496.3423574766134, + -115.9534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1498.9404336879668, + -114.4534301058392, + 2.418409895789379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1501.5385098993202, + -112.9534301058392, + 2.418409895789379 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-8-1_831768825/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-8-1_831768825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5fab1c4559737aeabaf21a1403651482bcde699 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_6-8-1_831768825/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 65.64702075321533, + 12.849038548888885, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 67.14702075321533, + 15.4471147602422, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.64702075321533, + 18.045190971595517, + 0.6990398881199429 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 68.64702075321533, + 18.045190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 71.24509696456865, + 19.545190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 73.84317317592196, + 21.045190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 76.44124938727528, + 22.545190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 79.0393255986286, + 24.045190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 81.63740180998191, + 25.545190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 84.23547802133523, + 27.045190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.83355423268854, + 28.545190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 89.43163044404186, + 30.045190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 92.02970665539517, + 31.545190971595517, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 94.62778286674849, + 33.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 97.2258590781018, + 34.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 99.82393528945512, + 36.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.42201150080844, + 37.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 105.02008771216175, + 39.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 107.61816392351507, + 40.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 110.21624013486839, + 42.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 112.8143163462217, + 43.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 115.41239255757502, + 45.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 118.01046876892833, + 46.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 120.60854498028165, + 48.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 123.20662119163497, + 49.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 125.80469740298828, + 51.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 128.40277361434158, + 52.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983013 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 131.0008498256949, + 54.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 133.59892603704822, + 55.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 136.19700224840153, + 57.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 138.79507845975485, + 58.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 141.39315467110816, + 60.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 143.99123088246148, + 61.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 146.5893070938148, + 63.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 149.1873833051681, + 64.54519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 151.78545951652143, + 66.04519097159552, + 0.6990398881199429 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 151.78545951652143, + 66.04519097159552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 153.28545951652143, + 68.64326718294883, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 154.78545951652143, + 71.24134339430215, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 156.28545951652143, + 73.83941960565546, + 0.6990398881199429 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 156.28545951652143, + 73.83941960565546, + 0.6990398881199429 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 156.28545951652143, + 73.83941960565546, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 154.78545951652143, + 76.43749581700878, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 153.28545951652143, + 79.0355720283621, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 151.78545951652143, + 81.63364823971541, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 150.28545951652143, + 84.23172445106873, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 148.78545951652143, + 86.82980066242204, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 147.28545951652143, + 89.42787687377536, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 145.78545951652143, + 92.02595308512868, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 144.28545951652143, + 94.62402929648199, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 142.78545951652143, + 97.22210550783531, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 141.28545951652143, + 99.82018171918862, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 139.78545951652143, + 102.41825793054194, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 138.28545951652143, + 105.01633414189526, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 136.78545951652143, + 107.61441035324857, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 135.28545951652143, + 110.21248656460189, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 133.78545951652143, + 112.8105627759552, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 132.28545951652143, + 115.40863898730852, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 130.78545951652143, + 118.00671519866184, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 129.28545951652143, + 120.60479141001515, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 127.78545951652143, + 123.20286762136847, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 126.28545951652143, + 125.80094383272179, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 124.78545951652143, + 128.3990200440751, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 123.28545951652143, + 130.9970962554284, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 121.78545951652143, + 133.59517246678172, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 120.28545951652143, + 136.19324867813503, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 118.78545951652143, + 138.79132488948835, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 117.28545951652143, + 141.38940110084167, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 115.78545951652143, + 143.98747731219498, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 114.28545951652143, + 146.5855535235483, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 112.78545951652143, + 149.18362973490161, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 111.28545951652143, + 151.78170594625493, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 109.78545951652143, + 154.37978215760825, + 0.6990398881199429 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 109.78545951652143, + 154.37978215760825, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.78545951652143, + 157.37978215760825, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 109.78545951652143, + 160.37978215760825, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 109.78545951652143, + 163.37978215760825, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 109.78545951652143, + 166.37978215760825, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 109.78545951652143, + 169.37978215760825, + 0.6990398881199429 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 109.78545951652143, + 172.37978215760825, + 0.6990398881199429 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-0-18_1844400657/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-0-18_1844400657/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02c56c54c926c18f771f9e2bca9b28c99cee1825 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-0-18_1844400657/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1300.9776644480166, + -154.99819184633873, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1303.9776644480166, + -154.99819184633873, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1306.9776644480166, + -154.99819184633873, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1309.9776644480166, + -154.99819184633873, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1309.9776644480166, + -154.99819184633873, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1309.9776644480166, + -154.99819184633873, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1311.4776644480166, + -157.59626805769204, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1312.9776644480166, + -160.19434426904536, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1314.4776644480166, + -162.79242048039868, + 2.575364453996305 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1314.4776644480166, + -162.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1317.07574065937, + -164.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1319.6738168707234, + -165.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1322.2718930820768, + -167.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1324.8699692934301, + -168.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1327.4680455047835, + -170.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1330.0661217161369, + -171.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1332.6641979274902, + -173.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1335.2622741388436, + -174.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1337.860350350197, + -176.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1340.4584265615504, + -177.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1343.0565027729037, + -179.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1345.6545789842571, + -180.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1348.2526551956105, + -182.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1350.8507314069639, + -183.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1353.4488076183172, + -185.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1356.0468838296706, + -186.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1358.644960041024, + -188.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1361.2430362523774, + -189.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1363.8411124637307, + -191.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1366.439188675084, + -192.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1369.0372648864375, + -194.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1371.6353410977908, + -195.79242048039868, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1371.6353410977908, + -195.79242048039868, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1371.6353410977908, + -195.79242048039868, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1371.6353410977908, + -195.79242048039868, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1371.6353410977908, + -195.79242048039868, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1371.6353410977908, + -195.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1369.0372648864375, + -197.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1366.439188675084, + -198.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1363.8411124637307, + -200.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1361.2430362523774, + -201.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1358.644960041024, + -203.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1356.0468838296706, + -204.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1353.4488076183172, + -206.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1350.8507314069639, + -207.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1348.2526551956105, + -209.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1345.6545789842571, + -210.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1343.0565027729037, + -212.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1340.4584265615504, + -213.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1337.860350350197, + -215.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1335.2622741388436, + -216.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1332.6641979274902, + -218.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1330.0661217161369, + -219.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1327.4680455047835, + -221.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1324.8699692934301, + -222.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1322.2718930820768, + -224.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1319.6738168707234, + -225.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1317.07574065937, + -227.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1314.4776644480166, + -228.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1311.8795882366633, + -230.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1309.28151202531, + -231.79242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1306.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1306.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1303.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1300.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1297.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1294.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1291.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1288.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1285.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1282.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1279.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1276.6834358139565, + -233.29242048039868, + 2.575364453996305 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-1-36_629580952/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-1-36_629580952/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6624496f46e9fd7e6744254b9941f0d4ef9e9d91 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-1-36_629580952/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 11.78245157789442, + 238.35619449316772, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 14.380527789247736, + 236.85619449316772, + -0.264900556947409 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 14.380527789247736, + 236.85619449316772, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 15.880527789247736, + 234.2581182818144, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 17.380527789247736, + 231.6600420704611, + -0.264900556947409 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.380527789247736, + 231.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 19.978604000601052, + 230.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 22.57668021195437, + 228.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 25.174756423307684, + 227.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 27.772832634661, + 225.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 30.370908846014316, + 224.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 32.96898505736763, + 222.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 35.56706126872095, + 221.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 38.165137480074264, + 219.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 40.76321369142758, + 218.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 43.3612899027809, + 216.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 45.95936611413421, + 215.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 48.55744232548753, + 213.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 51.155518536840844, + 212.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.75359474819416, + 210.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 56.35167095954748, + 209.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 58.94974717090079, + 207.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 61.54782338225411, + 206.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 64.14589959360742, + 204.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 66.74397580496074, + 203.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 69.34205201631406, + 201.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 71.94012822766737, + 200.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 74.53820443902069, + 198.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 77.136280650374, + 197.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 79.73435686172732, + 195.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 82.33243307308064, + 194.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 84.93050928443395, + 192.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 87.52858549578727, + 191.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 90.12666170714058, + 189.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 92.7247379184939, + 188.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 95.32281412984722, + 186.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 97.92089034120053, + 185.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 100.51896655255385, + 183.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 103.11704276390716, + 182.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 105.71511897526048, + 180.6600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 108.3131951866138, + 179.1600420704611, + -0.264900556947409 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 108.3131951866138, + 179.1600420704611, + -0.264900556947409 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 108.3131951866138, + 179.1600420704611, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 109.8131951866138, + 176.56196585910777, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 111.3131951866138, + 173.96388964775446, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 112.8131951866138, + 171.36581343640114, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 114.3131951866138, + 168.76773722504782, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 115.8131951866138, + 166.1696610136945, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 117.3131951866138, + 163.5715848023412, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 118.8131951866138, + 160.97350859098788, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 120.3131951866138, + 158.37543237963456, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 121.8131951866138, + 155.77735616828124, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 123.3131951866138, + 153.17927995692793, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 124.8131951866138, + 150.5812037455746, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 126.3131951866138, + 147.9831275342213, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 127.8131951866138, + 145.38505132286798, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 129.3131951866138, + 142.78697511151466, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 130.8131951866138, + 140.18889890016135, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 132.3131951866138, + 137.59082268880803, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 133.8131951866138, + 134.99274647745472, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 135.3131951866138, + 132.3946702661014, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 136.8131951866138, + 129.79659405474808, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 138.3131951866138, + 127.19851784339477, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 139.8131951866138, + 124.60044163204145, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 141.3131951866138, + 122.00236542068814, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 142.8131951866138, + 119.40428920933482, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 144.3131951866138, + 116.8062129979815, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 145.8131951866138, + 114.20813678662819, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 147.3131951866138, + 111.61006057527487, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 148.8131951866138, + 109.01198436392156, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 150.3131951866138, + 106.41390815256824, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 151.8131951866138, + 103.81583194121492, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 153.3131951866138, + 101.21775572986161, + -0.264900556947409 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 153.3131951866138, + 101.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 153.3131951866138, + 98.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 153.3131951866138, + 95.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 153.3131951866138, + 92.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 153.3131951866138, + 89.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 153.3131951866138, + 86.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 153.3131951866138, + 83.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 153.3131951866138, + 80.21775572986161, + -0.264900556947409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 153.3131951866138, + 77.21775572986161, + -0.264900556947409 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-11-17_1151297278/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-11-17_1151297278/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3be9d4d341a1ce225a85f287ac1d7873515d02d3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-11-17_1151297278/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1354.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1357.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1360.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1363.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1366.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1369.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1372.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1375.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1378.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1381.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1384.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1387.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1390.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1393.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1396.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1399.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1399.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1399.882309802181, + -217.73385465819342, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1401.382309802181, + -215.1357784468401, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1402.882309802181, + -212.5377022354868, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1404.382309802181, + -209.93962602413347, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1405.882309802181, + -207.34154981278016, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1407.382309802181, + -204.74347360142684, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1408.882309802181, + -202.14539739007353, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1410.382309802181, + -199.5473211787202, + -2.1855292819232357 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1410.382309802181, + -199.5473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1412.9803860135344, + -198.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1415.5784622248877, + -196.5473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1418.1765384362411, + -195.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1420.7746146475945, + -193.5473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1423.3726908589479, + -192.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1425.9707670703012, + -190.5473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1428.5688432816546, + -189.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1431.166919493008, + -187.5473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1433.7649957043614, + -186.0473211787202, + -2.1855292819232357 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1433.7649957043614, + -186.0473211787202, + -2.1855292819232357 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1433.7649957043614, + -186.0473211787202, + -2.1855292819232357 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1433.7649957043614, + -186.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1433.7649957043614, + -183.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1433.7649957043614, + -180.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1433.7649957043614, + -177.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1433.7649957043614, + -174.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1433.7649957043614, + -171.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1433.7649957043614, + -168.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1433.7649957043614, + -165.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1433.7649957043614, + -162.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1433.7649957043614, + -159.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1433.7649957043614, + -156.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1433.7649957043614, + -153.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1433.7649957043614, + -150.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1433.7649957043614, + -147.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1433.7649957043614, + -144.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1433.7649957043614, + -141.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1433.7649957043614, + -138.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1433.7649957043614, + -135.0473211787202, + -2.1855292819232357 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1433.7649957043614, + -135.0473211787202, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1432.2649957043614, + -132.4492449673669, + -2.1855292819232357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1430.7649957043614, + -129.85116875601358, + -2.1855292819232357 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-14-12_1916250774/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-14-12_1916250774/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1e1f1a9b5140f2c97efcdf5adf444b8590d3c3a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-14-12_1916250774/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -175.71855240011678, + -334.0910760554913, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -174.21855240011678, + -331.492999844138, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -172.71855240011678, + -328.8949236327847, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -171.21855240011678, + -326.2968474214314, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -169.71855240011678, + -323.69877121007806, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -168.21855240011678, + -321.10069499872475, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -166.71855240011678, + -318.50261878737143, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -165.21855240011678, + -315.9045425760181, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -163.71855240011678, + -313.3064663646648, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -162.21855240011678, + -310.7083901533115, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -160.71855240011678, + -308.11031394195817, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.21855240011678, + -305.51223773060485, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -157.71855240011678, + -302.91416151925154, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -156.21855240011678, + -300.3160853078982, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -154.71855240011678, + -297.7180090965449, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -153.21855240011678, + -295.1199328851916, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -151.71855240011678, + -292.5218566738383, + 2.9623091227424023 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -151.71855240011678, + -292.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -151.71855240011678, + -289.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -151.71855240011678, + -286.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -151.71855240011678, + -283.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -151.71855240011678, + -280.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -151.71855240011678, + -277.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -151.71855240011678, + -274.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -151.71855240011678, + -271.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -151.71855240011678, + -268.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -151.71855240011678, + -265.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -151.71855240011678, + -262.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -151.71855240011678, + -259.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -151.71855240011678, + -256.5218566738383, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -151.71855240011678, + -253.52185667383827, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.71855240011678, + -250.52185667383827, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -151.71855240011678, + -247.52185667383827, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -151.71855240011678, + -244.52185667383827, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -151.71855240011678, + -241.52185667383827, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -151.71855240011678, + -238.52185667383827, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -151.71855240011678, + -235.52185667383827, + 2.9623091227424023 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -151.71855240011678, + -235.52185667383827, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -153.21855240011678, + -232.92378046248496, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -154.71855240011678, + -230.32570425113164, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -156.21855240011678, + -227.72762803977832, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -157.71855240011678, + -225.129551828425, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -159.21855240011678, + -222.5314756170717, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -160.71855240011678, + -219.93339940571838, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.21855240011678, + -217.33532319436506, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -163.71855240011678, + -214.73724698301174, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -165.21855240011678, + -212.13917077165843, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -166.71855240011678, + -209.5410945603051, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -168.21855240011678, + -206.9430183489518, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -169.71855240011678, + -204.34494213759848, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -171.21855240011678, + -201.74686592624516, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -172.71855240011678, + -199.14878971489185, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -174.21855240011678, + -196.55071350353853, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -175.71855240011678, + -193.95263729218522, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -177.21855240011678, + -191.3545610808319, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -178.71855240011678, + -188.75648486947858, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -180.21855240011678, + -186.15840865812527, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -181.71855240011678, + -183.56033244677195, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -183.21855240011678, + -180.96225623541864, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -184.71855240011678, + -178.36418002406532, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -186.21855240011678, + -175.766103812712, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -187.71855240011678, + -173.1680276013587, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -189.21855240011678, + -170.56995139000537, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -190.71855240011678, + -167.97187517865206, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -192.21855240011678, + -165.37379896729874, + 2.9623091227424023 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -192.21855240011678, + -165.37379896729874, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -194.8166286114701, + -163.87379896729874, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -197.4147048228234, + -162.37379896729874, + 2.9623091227424023 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -200.01278103417673, + -160.87379896729874, + 2.9623091227424023 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-15-24_870305000/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-15-24_870305000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..632c4a460b38ff7321227a730ca00922c3cf8171 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-15-24_870305000/pose.jsonl @@ -0,0 +1,1146 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -59.347065868314345, + -468.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -59.347065868314345, + -465.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -59.347065868314345, + -462.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -59.347065868314345, + -459.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -59.347065868314345, + -456.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -59.347065868314345, + -453.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -59.347065868314345, + -450.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -59.347065868314345, + -447.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -59.347065868314345, + -444.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -59.347065868314345, + -441.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -59.347065868314345, + -438.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -59.347065868314345, + -435.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -59.347065868314345, + -432.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -59.347065868314345, + -429.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -59.347065868314345, + -426.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -59.347065868314345, + -423.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -59.347065868314345, + -420.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -59.347065868314345, + -417.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -59.347065868314345, + -414.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -59.347065868314345, + -411.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -59.347065868314345, + -408.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -59.347065868314345, + -405.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -59.347065868314345, + -402.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -59.347065868314345, + -399.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -59.347065868314345, + -396.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -59.347065868314345, + -393.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -59.347065868314345, + -390.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -59.347065868314345, + -387.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -59.347065868314345, + -384.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -59.347065868314345, + -381.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -59.347065868314345, + -378.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -59.347065868314345, + -375.27009954790697, + -0.2728498982926695 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -59.347065868314345, + -375.27009954790697, + -0.2728498982926695 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -59.347065868314345, + -375.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -56.74898965696103, + -373.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.15091344560771, + -372.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -51.5528372342544, + -370.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -48.95476102290108, + -369.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -46.356684811547765, + -367.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -43.75860860019445, + -366.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -41.16053238884113, + -364.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -38.56245617748782, + -363.27009954790697, + -0.2728498982926695 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -38.56245617748782, + -363.27009954790697, + -0.2728498982926695 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -38.56245617748782, + -363.27009954790697, + -0.2728498982926695 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -38.56245617748782, + -363.27009954790697, + -0.2728498982926695 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -38.56245617748782, + -363.27009954790697, + -0.2728498982926695 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -38.56245617748782, + -363.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -41.16053238884113, + -361.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -43.75860860019445, + -360.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -46.356684811547765, + -358.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -48.95476102290108, + -357.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -51.5528372342544, + -355.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -54.15091344560771, + -354.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -56.74898965696103, + -352.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -59.347065868314345, + -351.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -61.94514207966766, + -349.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -64.54321829102098, + -348.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -67.1412945023743, + -346.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -69.73937071372761, + -345.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -72.33744692508093, + -343.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -74.93552313643424, + -342.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -77.53359934778756, + -340.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -80.13167555914087, + -339.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -82.72975177049419, + -337.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -85.3278279818475, + -336.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -87.92590419320082, + -334.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -90.52398040455414, + -333.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -93.12205661590745, + -331.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -95.72013282726077, + -330.27009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -98.31820903861409, + -328.77009954790697, + -0.2728498982926695 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -98.31820903861409, + -328.77009954790697, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -99.81820903861409, + -326.17202333655365, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -101.31820903861409, + -323.57394712520033, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -102.81820903861409, + -320.975870913847, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -104.31820903861409, + -318.3777947024937, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -105.81820903861409, + -315.7797184911404, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -107.31820903861409, + -313.18164227978707, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -108.81820903861409, + -310.58356606843375, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -110.31820903861409, + -307.98548985708044, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -111.81820903861409, + -305.3874136457271, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -113.31820903861409, + -302.7893374343738, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -114.81820903861409, + -300.1912612230205, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -116.31820903861409, + -297.5931850116672, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -117.81820903861409, + -294.99510880031386, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -119.31820903861409, + -292.39703258896054, + -0.2728498982926695 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + -120.81820903861409, + -289.7989563776072, + -0.2728498982926695 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-16-41_1799560997/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-16-41_1799560997/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0014185aab4af13022a4e3b5ec129077817ac376 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-16-41_1799560997/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1482.8991783453425, + -216.46229475640314, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1484.3991783453425, + -213.86421854504982, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1485.8991783453425, + -211.2661423336965, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1487.3991783453425, + -208.6680661223432, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.8991783453425, + -206.06998991098988, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1490.3991783453425, + -203.47191369963656, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1491.8991783453425, + -200.87383748828324, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1493.3991783453425, + -198.27576127692993, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1494.8991783453425, + -195.6776850655766, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1496.3991783453425, + -193.0796088542233, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1497.8991783453425, + -190.48153264286998, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1499.3991783453425, + -187.88345643151666, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1500.8991783453425, + -185.28538022016335, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1502.3991783453425, + -182.68730400881003, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1503.8991783453425, + -180.08922779745672, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1505.3991783453425, + -177.4911515861034, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1506.8991783453425, + -174.89307537475008, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1508.3991783453425, + -172.29499916339677, + 1.5954349770206129 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1508.3991783453425, + -172.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1508.3991783453425, + -169.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1508.3991783453425, + -166.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1508.3991783453425, + -163.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1508.3991783453425, + -160.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1508.3991783453425, + -157.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1508.3991783453425, + -154.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1508.3991783453425, + -151.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1508.3991783453425, + -148.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1508.3991783453425, + -145.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1508.3991783453425, + -142.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1508.3991783453425, + -139.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1508.3991783453425, + -136.29499916339677, + 1.5954349770206129 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1508.3991783453425, + -136.29499916339677, + 1.5954349770206129 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1508.3991783453425, + -136.29499916339677, + 1.5954349770206129 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1508.3991783453425, + -136.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1505.8011021339892, + -134.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1503.2030259226358, + -133.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1500.6049497112824, + -131.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1498.006873499929, + -130.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1495.4087972885757, + -128.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1492.8107210772223, + -127.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1490.212644865869, + -125.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1487.6145686545156, + -124.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1485.0164924431622, + -122.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1482.4184162318088, + -121.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1479.8203400204554, + -119.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1477.222263809102, + -118.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1474.6241875977487, + -116.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1472.0261113863953, + -115.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1469.428035175042, + -113.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1466.8299589636886, + -112.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1464.2318827523352, + -110.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1461.6338065409818, + -109.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1459.0357303296284, + -107.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1456.437654118275, + -106.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1453.8395779069217, + -104.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1451.2415016955683, + -103.29499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1448.643425484215, + -101.79499916339677, + 1.5954349770206129 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1448.643425484215, + -101.79499916339677, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1447.143425484215, + -99.19692295204345, + 1.5954349770206129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1445.643425484215, + -96.59884674069013, + 1.5954349770206129 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-18-55_695466127/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-18-55_695466127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b78aa7925adee43a7914a253c0078f55e5455d81 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-18-55_695466127/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -108.633824182141, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -111.633824182141, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -114.633824182141, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -117.633824182141, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.633824182141, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -123.633824182141, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -126.633824182141, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -129.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -132.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -135.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -138.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -141.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -144.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -147.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -150.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -153.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -156.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -159.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -162.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -165.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -168.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -171.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -174.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -180.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -183.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -183.63382418214098, + -150.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -186.2319003934943, + -151.51344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -188.82997660484762, + -153.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -191.42805281620093, + -154.51344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -194.02612902755425, + -156.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -196.62420523890756, + -157.51344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -199.22228145026088, + -159.01344798514288, + 1.5612899660110555 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -199.22228145026088, + -159.01344798514288, + 1.5612899660110555 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -199.22228145026088, + -159.01344798514288, + 1.5612899660110555 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -199.22228145026088, + -159.01344798514288, + 1.5612899660110555 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -199.22228145026088, + -159.01344798514288, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -197.72228145026088, + -161.6115241964962, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -196.22228145026088, + -164.2096004078495, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -194.72228145026088, + -166.80767661920282, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -193.22228145026088, + -169.40575283055614, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -191.72228145026088, + -172.00382904190946, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -190.22228145026088, + -174.60190525326277, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -188.72228145026088, + -177.1999814646161, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -187.22228145026088, + -179.7980576759694, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -185.72228145026088, + -182.39613388732272, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -184.22228145026088, + -184.99421009867604, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -182.72228145026088, + -187.59228631002935, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -181.22228145026088, + -190.19036252138267, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -179.72228145026088, + -192.78843873273598, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -178.22228145026088, + -195.3865149440893, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -176.72228145026088, + -197.98459115544262, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -175.22228145026088, + -200.58266736679593, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -173.72228145026088, + -203.18074357814925, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -172.22228145026088, + -205.77881978950256, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -170.72228145026088, + -208.37689600085588, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -169.22228145026088, + -210.9749722122092, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -167.72228145026088, + -213.5730484235625, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -166.22228145026088, + -216.17112463491583, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -164.72228145026088, + -218.76920084626914, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -163.22228145026088, + -221.36727705762246, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -161.72228145026088, + -223.96535326897578, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -160.22228145026088, + -226.5634294803291, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -158.72228145026088, + -229.1615056916824, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -157.22228145026088, + -231.75958190303572, + 1.5612899660110555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -155.72228145026088, + -234.35765811438904, + 1.5612899660110555 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-2-41_6072641/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-2-41_6072641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..376308d48c574ff20711439699366b865d06ea0c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-2-41_6072641/pose.jsonl @@ -0,0 +1,1185 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 13.310788334227292, + -350.99304612211495, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.810788334227292, + -353.59112233346826, + -1.0572596989379095 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 11.810788334227292, + -353.59112233346826, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 9.212712122873976, + -355.09112233346826, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 9.212712122873976, + -355.09112233346826, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 7.712712122873977, + -357.6891985448216, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 6.2127121228739774, + -360.2872747561749, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4.712712122873978, + -362.8853509675282, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3.2127121228739792, + -365.4834271788815, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1.71271212287398, + -368.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 0.21271212287398056, + -370.67957960158816, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1.2872878771260188, + -373.2776558129415, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2.787287877126018, + -375.8757320242948, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -4.287287877126017, + -378.4738082356481, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -4.287287877126017, + -378.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -4.287287877126017, + -381.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -4.287287877126017, + -384.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -4.287287877126017, + -387.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -4.287287877126017, + -390.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -4.287287877126017, + -393.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -4.287287877126017, + -396.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -4.287287877126017, + -399.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -4.287287877126017, + -402.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -4.287287877126017, + -405.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -4.287287877126017, + -408.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -4.287287877126017, + -411.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -4.287287877126017, + -414.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.287287877126017, + -417.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -4.287287877126017, + -420.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -4.287287877126017, + -423.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -4.287287877126017, + -426.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -4.287287877126017, + -429.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -4.287287877126017, + -432.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -4.287287877126017, + -435.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -4.287287877126017, + -438.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -4.287287877126017, + -441.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -4.287287877126017, + -444.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -4.287287877126017, + -447.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -4.287287877126017, + -450.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -4.287287877126017, + -453.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -4.287287877126017, + -456.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -4.287287877126017, + -459.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -4.287287877126017, + -462.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -4.287287877126017, + -465.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -4.287287877126017, + -468.4738082356481, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -4.287287877126017, + -468.4738082356481, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -4.287287877126017, + -468.4738082356481, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -4.287287877126017, + -468.4738082356481, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -4.287287877126017, + -468.4738082356481, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -4.287287877126017, + -468.4738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1.6892116657727012, + -466.9738082356481, + -1.0572596989379095 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1.6892116657727012, + -466.9738082356481, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -0.18921166577270077, + -464.3757320242948, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1.3107883342272997, + -461.7776558129415, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 2.8107883342273, + -459.17957960158816, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 4.310788334227301, + -456.58150339023484, + -1.0572596989379095 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 4.310788334227301, + -456.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 6.908864545580617, + -455.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 9.506940756933933, + -453.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 12.105016968287249, + -452.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 14.703093179640565, + -450.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 17.30116939099388, + -449.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 19.899245602347197, + -447.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 22.497321813700513, + -446.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 25.09539802505383, + -444.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 27.693474236407145, + -443.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 30.29155044776046, + -441.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 32.88962665911377, + -440.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 35.48770287046709, + -438.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 38.085779081820405, + -437.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 40.68385529317372, + -435.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 43.28193150452704, + -434.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 45.88000771588035, + -432.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 48.47808392723367, + -431.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 51.076160138586985, + -429.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 53.6742363499403, + -428.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 56.27231256129362, + -426.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 58.87038877264693, + -425.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 61.46846498400025, + -423.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 64.06654119535357, + -422.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 66.66461740670688, + -420.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 69.2626936180602, + -419.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 71.86076982941351, + -417.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 74.45884604076683, + -416.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 77.05692225212015, + -414.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + 79.65499846347346, + -413.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + 82.25307467482678, + -411.58150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 88, + "pos": [ + 84.8511508861801, + -410.08150339023484, + -1.0572596989379095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 89, + "pos": [ + 87.44922709753341, + -408.58150339023484, + -1.0572596989379095 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-20-10_1143565421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-20-10_1143565421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11a9272f5cd22b0d2f3290df4b37258dda1eb7ed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-20-10_1143565421/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -58.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -55.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -52.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -49.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -46.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -43.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -40.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -37.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -34.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -31.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -28.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -25.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -22.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -19.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -16.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -13.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -10.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -7.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -4.486785766671275, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1.4867857666712752, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.5132142333287248, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 7.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 10.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 13.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 16.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 19.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 22.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 22.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 22.513214233328725, + 15.148187128694989, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 24.013214233328725, + 12.550110917341673, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 25.513214233328725, + 9.952034705988357, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 27.013214233328725, + 7.353958494635041, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 28.513214233328725, + 4.755882283281725, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 30.013214233328725, + 2.157806071928409, + -0.4491988422585269 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 30.013214233328725, + 2.157806071928409, + -0.4491988422585269 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 30.013214233328725, + 2.157806071928409, + -0.4491988422585269 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 30.013214233328725, + 2.157806071928409, + -0.4491988422585269 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 30.013214233328725, + 2.157806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 32.61129044468204, + 3.657806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 35.20936665603536, + 5.157806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 37.80744286738867, + 6.657806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 40.40551907874199, + 8.157806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 43.003595290095305, + 9.657806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 45.60167150144862, + 11.157806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 48.19974771280194, + 12.657806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 50.79782392415525, + 14.157806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 53.39590013550857, + 15.657806071928409, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 55.993976346861885, + 17.15780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 58.5920525582152, + 18.65780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 61.19012876956852, + 20.15780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 63.78820498092183, + 21.65780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 66.38628119227515, + 23.15780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 68.98435740362847, + 24.65780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 71.58243361498178, + 26.15780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 74.1805098263351, + 27.65780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 76.77858603768841, + 29.15780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 79.37666224904173, + 30.65780607192841, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 81.97473846039505, + 32.157806071928405, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 84.57281467174836, + 33.657806071928405, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 87.17089088310168, + 35.157806071928405, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 89.768967094455, + 36.657806071928405, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 92.36704330580831, + 38.157806071928405, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 94.96511951716163, + 39.657806071928405, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 97.56319572851494, + 41.157806071928405, + -0.4491988422585269 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 97.56319572851494, + 41.157806071928405, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 99.06319572851494, + 43.75588228328172, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 100.56319572851494, + 46.35395849463504, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 102.06319572851494, + 48.95203470598835, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 103.56319572851494, + 51.55011091734167, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 105.06319572851494, + 54.148187128694985, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 106.56319572851494, + 56.7462633400483, + -0.4491988422585269 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 106.56319572851494, + 56.7462633400483, + -0.4491988422585269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 109.16127193986826, + 58.2462633400483, + -0.4491988422585269 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-21-56_1539942439/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-21-56_1539942439/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4bd96d34c640bc6a27b2fb43b5ad869b3bbbfdd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-21-56_1539942439/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -79.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -76.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -73.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -70.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -67.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -64.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -61.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -58.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -55.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -52.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -49.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -46.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -43.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -40.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -37.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -34.37228712187071, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -31.372287121870713, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -28.372287121870713, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -25.372287121870713, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -22.372287121870713, + -560.1686161286259, + -4.455518216872671 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -22.372287121870713, + -560.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -19.774210910517397, + -561.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -17.17613469916408, + -563.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -14.578058487810765, + -564.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -11.979982276457449, + -566.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -9.381906065104133, + -567.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.783829853750817, + -569.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.185753642397501, + -570.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1.5876774310441846, + -572.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1.0103987803091314, + -573.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3.6084749916624475, + -575.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 6.2065512030157635, + -576.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 8.80462741436908, + -578.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 11.402703625722395, + -579.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 14.000779837075711, + -581.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 16.598856048429028, + -582.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 19.196932259782344, + -584.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 21.79500847113566, + -585.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 24.393084682488976, + -587.1686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 26.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 26.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 26.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 29.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 32.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 35.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 38.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 41.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 44.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 47.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 50.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 53.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 56.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 59.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 59.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 59.99116089384229, + -588.6686161286259, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 61.49116089384229, + -586.0705399172725, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 62.99116089384229, + -583.4724637059192, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 64.49116089384229, + -580.8743874945658, + -4.455518216872671 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 64.49116089384229, + -580.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 67.08923710519561, + -579.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 69.68731331654892, + -577.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 72.28538952790224, + -576.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 74.88346573925556, + -574.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 77.48154195060887, + -573.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 80.07961816196219, + -571.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 82.6776943733155, + -570.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 85.27577058466882, + -568.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 87.87384679602214, + -567.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 90.47192300737545, + -565.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 93.06999921872877, + -564.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 95.66807543008208, + -562.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 98.2661516414354, + -561.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 100.86422785278872, + -559.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 103.46230406414203, + -558.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 106.06038027549535, + -556.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 108.65845648684866, + -555.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 111.25653269820198, + -553.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 113.8546089095553, + -552.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 116.45268512090861, + -550.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 119.05076133226193, + -549.3743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 121.64883754361524, + -547.8743874945658, + -4.455518216872671 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 124.24691375496856, + -546.3743874945658, + -4.455518216872671 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-22-32_987987334/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-22-32_987987334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e94e9ed2d49e464395eb75f73329e4555a925eb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-22-32_987987334/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1506.315004497999, + -156.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1503.7169282866457, + -155.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1501.1188520752924, + -153.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1498.520775863939, + -152.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1495.9226996525856, + -150.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1493.3246234412322, + -149.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1490.7265472298789, + -147.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1488.1284710185255, + -146.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1485.5303948071721, + -144.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1482.9323185958187, + -143.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1480.3342423844654, + -141.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1477.736166173112, + -140.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1475.1380899617586, + -138.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1472.5400137504053, + -137.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1469.9419375390519, + -135.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1467.3438613276985, + -134.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1464.7457851163451, + -132.57213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1462.1477089049918, + -131.07213134972773, + 4.012971554186112 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1462.1477089049918, + -131.07213134972773, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1460.6477089049918, + -128.4740551383744, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1459.1477089049918, + -125.8759789270211, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1457.6477089049918, + -123.27790271566778, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1456.1477089049918, + -120.67982650431446, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1454.6477089049918, + -118.08175029296115, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1453.1477089049918, + -115.48367408160783, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1451.6477089049918, + -112.88559787025451, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1450.1477089049918, + -110.2875216589012, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1448.6477089049918, + -107.68944544754788, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1447.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1447.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1447.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1447.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1447.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1447.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1450.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1453.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1456.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1459.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1462.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1465.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1468.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1471.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1474.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1477.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1480.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1483.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1486.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1489.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1492.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1495.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1498.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1501.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1504.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1507.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1510.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1513.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1516.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1519.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1522.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1525.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1528.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1531.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1534.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1537.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1537.1477089049918, + -105.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1539.7457851163451, + -103.59136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1542.3438613276985, + -102.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1544.9419375390519, + -100.59136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1547.5400137504053, + -99.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1550.1380899617586, + -97.59136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1552.736166173112, + -96.09136923619457, + 4.012971554186112 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1552.736166173112, + -96.09136923619457, + 4.012971554186112 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1555.736166173112, + -96.09136923619457, + 4.012971554186112 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-23-34_12548159/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-23-34_12548159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee97d4c6ee219c0f4c32fb0e4b4ed919630420b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-23-34_12548159/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 815.3401890252416, + -527.5283742438432, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 815.3401890252416, + -524.5283742438432, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 815.3401890252416, + -521.5283742438432, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 815.3401890252416, + -518.5283742438432, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 815.3401890252416, + -515.5283742438432, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 815.3401890252416, + -512.5283742438432, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 815.3401890252416, + -509.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 815.3401890252416, + -506.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 815.3401890252416, + -503.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 815.3401890252416, + -500.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 815.3401890252416, + -497.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 815.3401890252416, + -494.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 815.3401890252416, + -491.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 815.3401890252416, + -488.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 815.3401890252416, + -485.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 815.3401890252416, + -482.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 815.3401890252416, + -479.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 815.3401890252416, + -476.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 815.3401890252416, + -473.52837424384325, + -1.5222733709716847 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 815.3401890252416, + -473.52837424384325, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 816.8401890252416, + -470.93029803248993, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 818.3401890252416, + -468.3322218211366, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 819.8401890252416, + -465.7341456097833, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 821.3401890252416, + -463.13606939843, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 822.8401890252416, + -460.53799318707667, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 824.3401890252416, + -457.93991697572335, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 825.8401890252416, + -455.34184076437003, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 827.3401890252416, + -452.7437645530167, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 828.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 828.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 828.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 828.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 831.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 834.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 837.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 840.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 843.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 846.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 849.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 852.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 855.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 855.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 855.8401890252416, + -450.1456883416634, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 857.3401890252416, + -447.5476121303101, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 858.8401890252416, + -444.94953591895677, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 860.3401890252416, + -442.35145970760345, + -1.5222733709716847 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 860.3401890252416, + -442.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 862.9382652365948, + -440.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 865.5363414479482, + -439.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 868.1344176593016, + -437.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 870.7324938706549, + -436.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 873.3305700820083, + -434.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 875.9286462933617, + -433.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 878.526722504715, + -431.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 881.1247987160684, + -430.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 883.7228749274218, + -428.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 886.3209511387752, + -427.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 888.9190273501285, + -425.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 891.5171035614819, + -424.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 894.1151797728353, + -422.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 896.7132559841887, + -421.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 899.311332195542, + -419.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 901.9094084068954, + -418.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 904.5074846182488, + -416.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 907.1055608296022, + -415.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 909.7036370409555, + -413.85145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 912.3017132523089, + -412.35145970760345, + -1.5222733709716847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 914.8997894636623, + -410.85145970760345, + -1.5222733709716847 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-23-6_1162088421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-23-6_1162088421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3ec0e1ba9dd390696a19995324d581d887117d0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-23-6_1162088421/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 999.2700030798709, + -180.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1001.8680792912241, + -182.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1004.4661555025775, + -183.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1007.0642317139309, + -185.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1009.6623079252843, + -186.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1012.2603841366376, + -188.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1014.858460347991, + -189.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1017.4565365593444, + -191.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1020.0546127706978, + -192.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1022.6526889820511, + -194.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1025.2507651934045, + -195.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1027.8488414047579, + -197.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1030.4469176161113, + -198.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1033.0449938274646, + -200.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1035.643070038818, + -201.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1038.2411462501714, + -203.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1040.8392224615247, + -204.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1043.4372986728781, + -206.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1046.0353748842315, + -207.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1048.6334510955849, + -209.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1051.2315273069382, + -210.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1053.8296035182916, + -212.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1056.427679729645, + -213.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1059.0257559409984, + -215.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1061.6238321523517, + -216.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1064.221908363705, + -218.49827053498868, + 3.937059364339655 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1064.221908363705, + -218.49827053498868, + 3.937059364339655 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1064.221908363705, + -218.49827053498868, + 3.937059364339655 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1064.221908363705, + -218.49827053498868, + 3.937059364339655 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1064.221908363705, + -218.49827053498868, + 3.937059364339655 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1064.221908363705, + -218.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1061.6238321523517, + -219.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1059.0257559409984, + -221.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1056.427679729645, + -222.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1053.8296035182916, + -224.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1051.2315273069382, + -225.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1048.6334510955849, + -227.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1046.0353748842315, + -228.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1043.4372986728781, + -230.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1040.8392224615247, + -231.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1038.2411462501714, + -233.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1035.643070038818, + -234.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1033.0449938274646, + -236.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1030.4469176161113, + -237.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1027.8488414047579, + -239.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1025.2507651934045, + -240.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1022.6526889820511, + -242.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1020.0546127706978, + -243.99827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1017.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1017.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1014.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1011.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1008.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1005.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1002.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 999.4565365593444, + -245.49827053498868, + 3.937059364339655 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-26-42_1402492972/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-26-42_1402492972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0182c9fae001f6e179bb52f8dba50dd478e5c25f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-26-42_1402492972/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1442.3522336236551, + -60.9417142139451, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1444.9503098350085, + -62.4417142139451, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1447.5483860463619, + -63.9417142139451, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1450.1464622577153, + -65.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982874 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1452.7445384690686, + -66.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1455.342614680422, + -68.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1457.9406908917754, + -69.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1460.5387671031287, + -71.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1463.1368433144821, + -72.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1465.7349195258355, + -74.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1468.3329957371889, + -75.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1470.9310719485422, + -77.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1473.5291481598956, + -78.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1476.127224371249, + -80.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1478.7253005826024, + -81.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1481.3233767939557, + -83.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1483.921453005309, + -84.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1486.5195292166625, + -86.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1489.1176054280158, + -87.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1491.7156816393692, + -89.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1494.3137578507226, + -90.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1496.911834062076, + -92.44171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1499.5099102734293, + -93.94171421394509, + 3.685537850606961 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1499.5099102734293, + -93.94171421394509, + 3.685537850606961 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1499.5099102734293, + -93.94171421394509, + 3.685537850606961 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1499.5099102734293, + -93.94171421394509, + 3.685537850606961 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1499.5099102734293, + -93.94171421394509, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1498.0099102734293, + -96.5397904252984, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1496.5099102734293, + -99.13786663665172, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1495.0099102734293, + -101.73594284800504, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1493.5099102734293, + -104.33401905935835, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1492.0099102734293, + -106.93209527071167, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1490.5099102734293, + -109.53017148206499, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1489.0099102734293, + -112.1282476934183, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1487.5099102734293, + -114.72632390477162, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1486.0099102734293, + -117.32440011612493, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1484.5099102734293, + -119.92247632747825, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1483.0099102734293, + -122.52055253883157, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1481.5099102734293, + -125.11862875018488, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1480.0099102734293, + -127.7167049615382, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1478.5099102734293, + -130.31478117289151, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1477.0099102734293, + -132.91285738424483, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1475.5099102734293, + -135.51093359559815, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1474.0099102734293, + -138.10900980695146, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1472.5099102734293, + -140.70708601830478, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1471.0099102734293, + -143.3051622296581, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1469.5099102734293, + -145.9032384410114, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1468.0099102734293, + -148.50131465236473, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1466.5099102734293, + -151.09939086371804, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1465.0099102734293, + -153.69746707507136, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1463.5099102734293, + -156.29554328642467, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1462.0099102734293, + -158.893619497778, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1460.5099102734293, + -161.4916957091313, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1459.0099102734293, + -164.08977192048462, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1457.5099102734293, + -166.68784813183794, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1456.0099102734293, + -169.28592434319125, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1454.5099102734293, + -171.88400055454457, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1453.0099102734293, + -174.4820767658979, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1451.5099102734293, + -177.0801529772512, + 3.685537850606961 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1451.5099102734293, + -177.0801529772512, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1448.911834062076, + -178.5801529772512, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1446.3137578507226, + -180.0801529772512, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1443.7156816393692, + -181.5801529772512, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1441.1176054280158, + -183.0801529772512, + 3.685537850606961 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1438.5195292166625, + -184.5801529772512, + 3.685537850606961 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-27-12_470631541/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-27-12_470631541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c6789f8497cf0621698878bb2df0b0461310e83 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-27-12_470631541/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 177.51394835861225, + 280.34751625244695, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 179.01394835861225, + 277.74944004109364, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 180.51394835861225, + 275.1513638297403, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 182.01394835861225, + 272.553287618387, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 183.51394835861225, + 269.9552114070337, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 185.01394835861225, + 267.35713519568037, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 186.51394835861225, + 264.75905898432705, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 188.01394835861225, + 262.16098277297374, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 189.51394835861225, + 259.5629065616204, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 191.01394835861225, + 256.9648303502671, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 192.51394835861225, + 254.3667541389138, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 194.01394835861225, + 251.76867792756047, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 195.51394835861225, + 249.17060171620716, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 197.01394835861225, + 246.57252550485384, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 198.51394835861225, + 243.97444929350053, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 200.01394835861225, + 241.3763730821472, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 201.51394835861225, + 238.7782968707939, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 203.01394835861225, + 236.18022065944058, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 204.51394835861225, + 233.58214444808726, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 206.01394835861225, + 230.98406823673395, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 207.51394835861225, + 228.38599202538063, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 209.01394835861225, + 225.78791581402731, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 210.51394835861225, + 223.189839602674, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 212.01394835861225, + 220.59176339132068, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 213.51394835861225, + 217.99368717996737, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 215.01394835861225, + 215.39561096861405, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 216.51394835861225, + 212.79753475726073, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 218.01394835861225, + 210.19945854590742, + -4.545118970763822 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 218.01394835861225, + 210.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 220.61202456996557, + 208.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 223.21010078131889, + 207.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 225.8081769926722, + 205.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 228.40625320402552, + 204.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 231.00432941537883, + 202.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 233.60240562673215, + 201.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 236.20048183808547, + 199.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 238.79855804943878, + 198.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 241.3966342607921, + 196.69945854590742, + -4.545118970763822 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 241.3966342607921, + 196.69945854590742, + -4.545118970763822 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 241.3966342607921, + 196.69945854590742, + -4.545118970763822 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 241.3966342607921, + 196.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 243.9947104721454, + 198.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 246.59278668349873, + 199.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 249.19086289485205, + 201.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 251.78893910620536, + 202.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 254.38701531755868, + 204.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 256.985091528912, + 205.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 259.5831677402653, + 207.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 262.1812439516186, + 208.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 264.77932016297194, + 210.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 267.37739637432526, + 211.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 269.9754725856786, + 213.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 272.5735487970319, + 214.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 275.1716250083852, + 216.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 277.7697012197385, + 217.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 280.36777743109184, + 219.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 282.96585364244515, + 220.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 285.56392985379847, + 222.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 288.1620060651518, + 223.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 290.7600822765051, + 225.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 293.3581584878584, + 226.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 295.95623469921173, + 228.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 298.55431091056505, + 229.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 301.15238712191837, + 231.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 303.7504633332717, + 232.69945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 306.348539544625, + 234.19945854590742, + -4.545118970763822 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 306.348539544625, + 234.19945854590742, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 307.848539544625, + 236.79753475726073, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 309.348539544625, + 239.39561096861405, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 310.848539544625, + 241.99368717996737, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 312.348539544625, + 244.59176339132068, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 313.848539544625, + 247.189839602674, + -4.545118970763822 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 315.348539544625, + 249.78791581402731, + -4.545118970763822 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-29-29_737703662/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-29-29_737703662/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae972d1f9d528271f64b4de9071ecc18776dd4c0 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-29-29_737703662/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -101.84959158995821, + -467.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -104.44766780131152, + -465.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -107.04574401266484, + -464.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -109.64382022401816, + -462.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -112.24189643537147, + -461.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -114.83997264672479, + -459.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -117.4380488580781, + -458.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -120.03612506943142, + -456.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -122.63420128078474, + -455.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -125.23227749213805, + -453.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -127.83035370349137, + -452.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -130.42842991484468, + -450.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -133.026506126198, + -449.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -135.62458233755132, + -447.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -138.22265854890463, + -446.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -140.82073476025795, + -444.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -143.41881097161126, + -443.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -146.01688718296458, + -441.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -148.6149633943179, + -440.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -151.2130396056712, + -438.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -153.81111581702453, + -437.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -156.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -156.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -159.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -162.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -165.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -168.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -171.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -174.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -177.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -180.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -183.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -186.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -189.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -192.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -195.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -198.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -201.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -201.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -201.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -201.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -201.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -201.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -201.40919202837784, + -435.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -198.81111581702453, + -434.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -196.2130396056712, + -432.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -193.6149633943179, + -431.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -191.01688718296458, + -429.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -188.41881097161126, + -428.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -185.82073476025795, + -426.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -183.22265854890463, + -425.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -180.62458233755132, + -423.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -178.026506126198, + -422.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -175.42842991484468, + -420.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -172.83035370349137, + -419.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -170.23227749213805, + -417.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -167.63420128078474, + -416.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -165.03612506943142, + -414.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -162.4380488580781, + -413.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -159.8399726467248, + -411.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -157.24189643537147, + -410.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -154.64382022401816, + -408.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -152.04574401266484, + -407.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -149.44766780131152, + -405.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -146.8495915899582, + -404.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -144.2515153786049, + -402.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -141.65343916725158, + -401.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -139.05536295589826, + -399.85808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -136.45728674454494, + -398.35808942337917, + -1.3434890056197801 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -136.45728674454494, + -398.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -133.45728674454494, + -398.35808942337917, + -1.3434890056197801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -130.45728674454494, + -398.35808942337917, + -1.3434890056197801 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-32-18_2118801173/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-32-18_2118801173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..007e8467d0d3d531fbf7e4ec173e4551a3980811 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-32-18_2118801173/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.91812539843284, + -84.41125990957299, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.41812539843284, + -81.81318369821967, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 99.91812539843284, + -79.21510748686636, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 98.41812539843284, + -76.61703127551304, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.91812539843284, + -74.01895506415973, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 95.41812539843284, + -71.42087885280641, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 93.91812539843284, + -68.8228026414531, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.41812539843284, + -66.22472643009978, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 90.91812539843284, + -63.62665021874646, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.41812539843284, + -61.028574007393146, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 87.91812539843284, + -58.43049779603983, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.41812539843284, + -55.832421584686514, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 84.91812539843284, + -53.2343453733332, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.41812539843284, + -50.63626916197988, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 81.91812539843284, + -48.038192950626566, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 80.41812539843284, + -45.44011673927325, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 78.91812539843284, + -42.842040527919934, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 77.41812539843284, + -40.24396431656662, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 75.91812539843284, + -37.6458881052133, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 74.41812539843284, + -35.047811893859986, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 72.91812539843284, + -32.44973568250667, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 71.41812539843284, + -29.851659471153354, + 2.1071405448179608 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 71.41812539843284, + -29.851659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 68.82004918707952, + -28.351659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 66.2219729757262, + -26.851659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 63.62389676437289, + -25.351659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 61.02582055301957, + -23.851659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 58.427744341666255, + -22.351659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.82966813031294, + -20.851659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 53.23159191895962, + -19.351659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 50.63351570760631, + -17.851659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 48.03543949625299, + -16.351659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 45.437363284899675, + -14.851659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 42.83928707354636, + -13.351659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 40.24121086219304, + -11.851659471153354, + 2.1071405448179608 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 40.24121086219304, + -11.851659471153354, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 38.74121086219304, + -9.253583259800038, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 37.24121086219304, + -6.655507048446722, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 35.74121086219304, + -4.057430837093406, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 34.24121086219304, + -1.4593546257400902, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 32.74121086219304, + 1.1387215856132258, + 2.1071405448179608 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 32.74121086219304, + 1.1387215856132258, + 2.1071405448179608 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 32.74121086219304, + 1.1387215856132258, + 2.1071405448179608 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 32.74121086219304, + 1.1387215856132258, + 2.1071405448179608 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 32.74121086219304, + 1.1387215856132258, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 35.33928707354636, + 2.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 37.937363284899675, + 4.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 40.53543949625299, + 5.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 43.13351570760631, + 7.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 45.73159191895962, + 8.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 48.32966813031294, + 10.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 50.927744341666255, + 11.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 53.52582055301957, + 13.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 56.12389676437289, + 14.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 58.7219729757262, + 16.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 61.32004918707952, + 17.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 63.918125398432835, + 19.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 66.51620160978615, + 20.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 69.11427782113947, + 22.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 71.71235403249278, + 23.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 74.3104302438461, + 25.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 76.90850645519942, + 26.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 79.50658266655273, + 28.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 82.10465887790605, + 29.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 84.70273508925936, + 31.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 87.30081130061268, + 32.638721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 89.898887511966, + 34.138721585613226, + 2.1071405448179608 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 89.898887511966, + 34.138721585613226, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 91.398887511966, + 36.73679779696654, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 92.898887511966, + 39.33487400831986, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 94.398887511966, + 41.932950219673174, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 95.898887511966, + 44.53102643102649, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 97.398887511966, + 47.129102642379806, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 98.898887511966, + 49.72717885373312, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 100.398887511966, + 52.32525506508644, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 101.898887511966, + 54.923331276439754, + 2.1071405448179608 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 101.898887511966, + 54.923331276439754, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 104.49696372331931, + 56.423331276439754, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 107.09503993467263, + 57.923331276439754, + 2.1071405448179608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 109.69311614602594, + 59.423331276439754, + 2.1071405448179608 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-33-37_610486506/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-33-37_610486506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8099677dc4679bff09cb90b6bce8c1b1ac58ac2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-33-37_610486506/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 368.5531355158008, + -24.992294248007582, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 365.9550593044475, + -26.492294248007582, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.3569830930942, + -27.992294248007582, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 360.75890688174087, + -29.492294248007582, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 358.16083067038755, + -30.992294248007582, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 355.56275445903424, + -32.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 352.9646782476809, + -33.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 350.3666020363276, + -35.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 347.7685258249743, + -36.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 345.170449613621, + -38.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 342.57237340226766, + -39.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 339.97429719091434, + -41.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 337.376220979561, + -42.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 334.7781447682077, + -44.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 332.1800685568544, + -45.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 329.5819923455011, + -47.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.98391613414776, + -48.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 324.38583992279445, + -50.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 321.78776371144113, + -51.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 319.1896875000878, + -53.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 316.5916112887345, + -54.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 313.9935350773812, + -56.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 311.39545886602787, + -57.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 308.79738265467455, + -59.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 306.19930644332123, + -60.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 303.6012302319679, + -62.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 301.0031540206146, + -63.99229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.4050778092613, + -65.49229424800758, + -1.1390015085772074 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 298.4050778092613, + -65.49229424800758, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 296.9050778092613, + -68.0903704593609, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 295.4050778092613, + -70.68844667071421, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 293.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 293.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 293.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 299.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 302.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 305.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 308.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 311.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 314.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 317.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 320.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 323.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 326.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 329.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 329.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 329.9050778092613, + -73.28652288206753, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 331.4050778092613, + -75.88459909342085, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 332.9050778092613, + -78.48267530477416, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 334.4050778092613, + -81.08075151612748, + -1.1390015085772074 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 334.4050778092613, + -81.08075151612748, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 337.0031540206146, + -82.58075151612748, + -1.1390015085772074 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 339.6012302319679, + -84.08075151612748, + -1.1390015085772074 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-35-56_1833488263/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-35-56_1833488263/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ace279f81184da86d12fbef06aef13f6892f34c4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-35-56_1833488263/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1380.9103724744866, + 298.04137613368965, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1379.4103724744866, + 295.44329992233634, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1377.9103724744866, + 292.845223710983, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1376.4103724744866, + 290.2471474996297, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1374.9103724744866, + 287.6490712882764, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1373.4103724744866, + 285.0509950769231, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1371.9103724744866, + 282.45291886556976, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1370.4103724744866, + 279.85484265421644, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1368.9103724744866, + 277.2567664428631, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1367.4103724744866, + 274.6586902315098, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1365.9103724744866, + 272.0606140201565, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1364.4103724744866, + 269.4625378088032, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1362.9103724744866, + 266.86446159744986, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1361.4103724744866, + 264.26638538609654, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1359.9103724744866, + 261.66830917474323, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1358.4103724744866, + 259.0702329633899, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1356.9103724744866, + 256.4721567520366, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1355.4103724744866, + 253.87408054068328, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1353.9103724744866, + 251.27600432932996, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1352.4103724744866, + 248.67792811797665, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1350.9103724744866, + 246.07985190662333, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1349.4103724744866, + 243.48177569527002, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1347.9103724744866, + 240.8836994839167, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1346.4103724744866, + 238.28562327256338, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1344.9103724744866, + 235.68754706121007, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1343.4103724744866, + 233.08947084985675, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1341.9103724744866, + 230.49139463850344, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1340.4103724744866, + 227.89331842715012, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1338.9103724744866, + 225.2952422157968, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1337.4103724744866, + 222.6971660044435, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1335.9103724744866, + 220.09908979309017, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1334.4103724744866, + 217.50101358173686, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1332.9103724744866, + 214.90293737038354, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1331.4103724744866, + 212.30486115903022, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1329.9103724744866, + 209.7067849476769, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1328.4103724744866, + 207.1087087363236, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1326.9103724744866, + 204.51063252497028, + -2.3446291531194277 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1326.9103724744866, + 204.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1324.3122962631332, + 203.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1321.7142200517799, + 201.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1319.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1319.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1319.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1319.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1319.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1319.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "turn left", + "value": 30, + "yaw": -9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1319.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1322.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1325.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1328.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1331.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1331.1161438404265, + 200.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1333.7142200517799, + 198.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1336.3122962631332, + 197.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1338.9103724744866, + 195.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1341.50844868584, + 194.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1344.1065248971934, + 192.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1346.7046011085467, + 191.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1349.3026773199, + 189.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1351.9007535312535, + 188.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1354.4988297426069, + 186.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1357.0969059539602, + 185.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1359.6949821653136, + 183.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1362.293058376667, + 182.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1364.8911345880203, + 180.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1367.4892107993737, + 179.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1370.087287010727, + 177.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1372.6853632220805, + 176.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1375.2834394334338, + 174.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1377.8815156447872, + 173.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1380.4795918561406, + 171.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1383.077668067494, + 170.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1385.6757442788473, + 168.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1388.2738204902007, + 167.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1390.871896701554, + 165.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1393.4699729129075, + 164.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1396.0680491242608, + 162.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1398.6661253356142, + 161.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1401.2642015469676, + 159.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1403.862277758321, + 158.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1406.4603539696743, + 156.51063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1409.0584301810277, + 155.01063252497028, + -2.3446291531194277 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1411.656506392381, + 153.51063252497028, + -2.3446291531194277 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-38-41_916018859/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-38-41_916018859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e4b80d900ad99f8f6dfe576fd48ccaa7ac1a3e9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-38-41_916018859/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -157.61917163818134, + -63.94824024707505, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -159.11917163818134, + -66.54631645842836, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -160.61917163818134, + -69.14439266978168, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -162.11917163818134, + -71.742468881135, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -163.61917163818134, + -74.34054509248831, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -165.11917163818134, + -76.93862130384163, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -166.61917163818134, + -79.53669751519494, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -168.11917163818134, + -82.13477372654826, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.61917163818134, + -84.73284993790158, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -171.11917163818134, + -87.33092614925489, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -172.61917163818134, + -89.92900236060821, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -174.11917163818134, + -92.52707857196152, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -175.61917163818134, + -95.12515478331484, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -177.11917163818134, + -97.72323099466816, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.61917163818134, + -100.32130720602147, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -180.11917163818134, + -102.91938341737479, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -181.61917163818134, + -105.5174596287281, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -183.11917163818134, + -108.11553584008142, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -184.61917163818134, + -110.71361205143474, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -186.11917163818134, + -113.31168826278805, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -187.61917163818134, + -115.90976447414137, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -189.11917163818134, + -118.50784068549468, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -190.61917163818134, + -121.105916896848, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -192.11917163818134, + -123.70399310820132, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -193.61917163818134, + -126.30206931955463, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -195.11917163818134, + -128.90014553090793, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393198 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -196.61917163818134, + -131.49822174226125, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -198.11917163818134, + -134.09629795361457, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -199.61917163818134, + -136.69437416496788, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -201.11917163818134, + -139.2924503763212, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -202.61917163818134, + -141.89052658767451, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -204.11917163818134, + -144.48860279902783, + 2.9916722211033706 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -204.11917163818134, + -144.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -204.11917163818134, + -147.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -204.11917163818134, + -150.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -204.11917163818134, + -153.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -204.11917163818134, + -156.48860279902783, + 2.9916722211033706 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -204.11917163818134, + -156.48860279902783, + 2.9916722211033706 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -204.11917163818134, + -156.48860279902783, + 2.9916722211033706 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.11917163818134, + -156.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -206.71724784953466, + -157.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -209.31532406088797, + -159.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -211.9134002722413, + -160.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -214.5114764835946, + -162.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -217.10955269494792, + -163.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -219.70762890630124, + -165.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -222.30570511765455, + -166.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -224.90378132900787, + -168.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -227.5018575403612, + -169.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -230.0999337517145, + -171.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -232.69800996306782, + -172.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -235.29608617442113, + -174.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -237.89416238577445, + -175.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -240.49223859712777, + -177.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -243.09031480848108, + -178.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -245.6883910198344, + -180.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -248.28646723118771, + -181.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -250.88454344254103, + -183.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -253.48261965389435, + -184.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -256.08069586524766, + -186.48860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -258.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -258.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -261.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -264.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -267.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -270.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -273.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -276.678772076601, + -187.98860279902783, + 2.9916722211033706 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-38-8_301373537/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-38-8_301373537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b506725ce206bd8c63e8ce3c03a9a3aaec12890a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-38-8_301373537/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 562.6486865161553, + -230.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 560.0506103048019, + -231.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 557.4525340934485, + -233.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 554.8544578820952, + -234.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 552.2563816707418, + -236.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 549.6583054593884, + -237.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 547.0602292480351, + -239.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 544.4621530366817, + -240.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 541.8640768253283, + -242.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 539.2660006139749, + -243.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 536.6679244026216, + -245.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 534.0698481912682, + -246.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 531.4717719799148, + -248.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 528.8736957685614, + -249.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 526.2756195572081, + -251.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 523.6775433458547, + -252.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 521.0794671345013, + -254.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 518.481390923148, + -255.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 515.8833147117946, + -257.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 513.2852385004412, + -258.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 510.6871622890879, + -260.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 508.0890860777346, + -261.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 505.49100986638126, + -263.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 502.89293365502795, + -264.90002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 500.29485744367463, + -266.40002733411103, + -3.673913781641967 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 500.29485744367463, + -266.40002733411103, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 498.79485744367463, + -268.99810354546435, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 497.29485744367463, + -271.59617975681766, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 495.79485744367463, + -274.194255968171, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 494.29485744367463, + -276.7923321795243, + -3.673913781641967 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 494.29485744367463, + -276.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 494.29485744367463, + -279.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 494.29485744367463, + -282.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 494.29485744367463, + -285.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 494.29485744367463, + -288.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 494.29485744367463, + -291.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 494.29485744367463, + -294.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 494.29485744367463, + -297.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 494.29485744367463, + -300.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 494.29485744367463, + -303.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 494.29485744367463, + -306.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 494.29485744367463, + -309.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 494.29485744367463, + -312.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 494.29485744367463, + -315.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 494.29485744367463, + -318.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 494.29485744367463, + -321.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 494.29485744367463, + -324.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 494.29485744367463, + -327.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 494.29485744367463, + -330.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 494.29485744367463, + -333.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 494.29485744367463, + -336.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 494.29485744367463, + -339.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 494.29485744367463, + -342.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 494.29485744367463, + -345.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 494.29485744367463, + -348.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 494.29485744367463, + -351.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 494.29485744367463, + -354.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 494.29485744367463, + -357.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 494.29485744367463, + -360.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 494.29485744367463, + -363.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 494.29485744367463, + -366.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 494.29485744367463, + -369.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 494.29485744367463, + -372.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 494.29485744367463, + -375.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 494.29485744367463, + -378.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 494.29485744367463, + -381.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 494.29485744367463, + -384.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 494.29485744367463, + -387.7923321795243, + -3.673913781641967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 494.29485744367463, + -390.7923321795243, + -3.673913781641967 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-39-50_1289360871/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-39-50_1289360871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0b1fa7af9db53030b4ccadca74bde63261efe00 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-39-50_1289360871/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -323.9887014714645, + -111.12561783972751, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -322.4887014714645, + -113.72369405108083, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -320.9887014714645, + -116.32177026243414, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -319.4887014714645, + -118.91984647378746, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -317.9887014714645, + -121.51792268514077, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -316.4887014714645, + -124.11599889649409, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -314.9887014714645, + -126.7140751078474, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -313.4887014714645, + -129.31215131920072, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -311.9887014714645, + -131.91022753055404, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -310.4887014714645, + -134.50830374190735, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -308.9887014714645, + -137.10637995326067, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -307.4887014714645, + -139.704456164614, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -305.9887014714645, + -142.3025323759673, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -304.4887014714645, + -144.90060858732062, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -302.9887014714645, + -147.49868479867393, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -301.4887014714645, + -150.09676101002725, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.9887014714645, + -152.69483722138057, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -298.4887014714645, + -155.29291343273388, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -296.9887014714645, + -157.8909896440872, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -295.4887014714645, + -160.48906585544051, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -293.9887014714645, + -163.08714206679383, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -292.4887014714645, + -165.68521827814715, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -290.9887014714645, + -168.28329448950046, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -289.4887014714645, + -170.88137070085378, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -287.9887014714645, + -173.4794469122071, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -286.4887014714645, + -176.0775231235604, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -284.9887014714645, + -178.67559933491373, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -283.4887014714645, + -181.27367554626704, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -281.9887014714645, + -183.87175175762036, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -280.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -280.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -280.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -280.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -277.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -274.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -271.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -268.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -265.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -262.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -259.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -256.4887014714645, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -253.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -250.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -247.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -244.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -241.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -238.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -235.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -232.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -229.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -229.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -229.48870147146448, + -186.46982796897368, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -227.98870147146448, + -183.87175175762036, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -226.48870147146448, + -181.27367554626704, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -224.98870147146448, + -178.67559933491373, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -223.48870147146448, + -176.0775231235604, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -221.98870147146448, + -173.4794469122071, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -220.48870147146448, + -170.88137070085378, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -218.98870147146448, + -168.28329448950046, + 0.4823225990957214 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -218.98870147146448, + -168.28329448950046, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -216.39062526011116, + -166.78329448950046, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -213.79254904875785, + -165.28329448950046, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -211.19447283740453, + -163.78329448950046, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -208.59639662605122, + -162.28329448950046, + 0.4823225990957214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -205.9983204146979, + -160.78329448950046, + 0.4823225990957214 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-4-5_620089368/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-4-5_620089368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3883b98b7bb306b5fc77c03a9be043db94ce5541 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-4-5_620089368/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1309.2372058185397, + 98.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1309.2372058185397, + 101.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1309.2372058185397, + 104.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1309.2372058185397, + 107.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1309.2372058185397, + 110.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1309.2372058185397, + 113.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1309.2372058185397, + 116.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1309.2372058185397, + 119.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1309.2372058185397, + 122.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1309.2372058185397, + 125.20739818029863, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1309.2372058185397, + 128.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1309.2372058185397, + 131.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1309.2372058185397, + 134.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1309.2372058185397, + 137.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1309.2372058185397, + 140.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1309.2372058185397, + 143.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1309.2372058185397, + 146.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1309.2372058185397, + 149.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1309.2372058185397, + 152.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1309.2372058185397, + 155.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1309.2372058185397, + 158.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1309.2372058185397, + 161.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1309.2372058185397, + 164.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1309.2372058185397, + 167.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1309.2372058185397, + 170.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1309.2372058185397, + 173.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1309.2372058185397, + 176.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1309.2372058185397, + 179.20739818029864, + -1.198339465367825 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1309.2372058185397, + 179.20739818029864, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1310.7372058185397, + 181.80547439165196, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1312.2372058185397, + 184.40355060300527, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1313.7372058185397, + 187.0016268143586, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1315.2372058185397, + 189.5997030257119, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1316.7372058185397, + 192.19777923706522, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1318.2372058185397, + 194.79585544841854, + -1.198339465367825 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1318.2372058185397, + 194.79585544841854, + -1.198339465367825 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1318.2372058185397, + 194.79585544841854, + -1.198339465367825 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1318.2372058185397, + 194.79585544841854, + -1.198339465367825 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1318.2372058185397, + 194.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1315.6391296071863, + 196.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1313.041053395833, + 197.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1310.4429771844796, + 199.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1307.8449009731262, + 200.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1305.2468247617728, + 202.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1302.6487485504194, + 203.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1300.050672339066, + 205.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1297.4525961277127, + 206.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1294.8545199163593, + 208.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1292.256443705006, + 209.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1289.6583674936526, + 211.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1287.0602912822992, + 212.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1284.4622150709458, + 214.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1281.8641388595925, + 215.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1279.266062648239, + 217.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1276.6679864368857, + 218.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1274.0699102255323, + 220.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1271.471834014179, + 221.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1268.8737578028256, + 223.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1266.2756815914722, + 224.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1263.6776053801188, + 226.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1261.0795291687655, + 227.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1258.481452957412, + 229.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1255.8833767460587, + 230.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1253.2853005347054, + 232.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1250.687224323352, + 233.79585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1248.0891481119986, + 235.29585544841854, + -1.198339465367825 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1248.0891481119986, + 235.29585544841854, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1246.5891481119986, + 237.89393165977185, + -1.198339465367825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1245.0891481119986, + 240.49200787112517, + -1.198339465367825 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-40-26_2078107280/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-40-26_2078107280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f06b8f945ae2268188b52fb0d725eeb2a5b742b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-40-26_2078107280/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -176.10068223632442, + -373.01408661593666, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -174.60068223632442, + -370.41601040458335, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -173.10068223632442, + -367.81793419323003, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -171.60068223632442, + -365.2198579818767, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -170.10068223632442, + -362.6217817705234, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -168.60068223632442, + -360.0237055591701, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -167.10068223632442, + -357.42562934781677, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -165.60068223632442, + -354.82755313646345, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -164.10068223632442, + -352.22947692511013, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -162.60068223632442, + -349.6314007137568, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -161.10068223632442, + -347.0333245024035, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.60068223632442, + -344.4352482910502, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -158.10068223632442, + -341.83717207969687, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -156.60068223632442, + -339.23909586834355, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -155.10068223632442, + -336.64101965699024, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -153.60068223632442, + -334.0429434456369, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -152.10068223632442, + -331.4448672342836, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -150.60068223632442, + -328.8467910229303, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -149.10068223632442, + -326.248714811577, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -147.60068223632442, + -323.65063860022366, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -146.10068223632442, + -321.05256238887034, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -144.60068223632442, + -318.454486177517, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -143.10068223632442, + -315.8564099661637, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -141.60068223632442, + -313.2583337548104, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -140.10068223632442, + -310.6602575434571, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -138.60068223632442, + -308.06218133210376, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -137.10068223632442, + -305.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -135.60068223632442, + -302.86602890939713, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -134.10068223632442, + -300.2679526980438, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -132.60068223632442, + -297.6698764866905, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -131.10068223632442, + -295.0718002753372, + -1.1131693264713967 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -131.10068223632442, + -295.0718002753372, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.5026060249711, + -293.5718002753372, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -125.90452981361778, + -292.0718002753372, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -123.30645360226447, + -290.5718002753372, + -1.1131693264713967 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -123.30645360226447, + -290.5718002753372, + -1.1131693264713967 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -123.30645360226447, + -290.5718002753372, + -1.1131693264713967 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -123.30645360226447, + -290.5718002753372, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -120.70837739091115, + -292.0718002753372, + -1.1131693264713967 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -120.70837739091115, + -292.0718002753372, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -119.20837739091115, + -294.6698764866905, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -117.70837739091115, + -297.2679526980438, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -116.20837739091115, + -299.86602890939713, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -114.70837739091115, + -302.46410512075045, + -1.1131693264713967 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -114.70837739091115, + -302.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -112.11030117955784, + -303.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -109.51222496820452, + -305.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -106.9141487568512, + -306.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -104.31607254549789, + -308.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -101.71799633414457, + -309.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -99.11992012279126, + -311.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -96.52184391143794, + -312.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -93.92376770008462, + -314.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -91.32569148873131, + -315.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -88.72761527737799, + -317.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -86.12953906602468, + -318.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -83.53146285467136, + -320.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -80.93338664331804, + -321.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -78.33531043196473, + -323.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -75.73723422061141, + -324.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -73.1391580092581, + -326.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -70.54108179790478, + -327.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -67.94300558655146, + -329.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -65.34492937519815, + -330.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -62.74685316384483, + -332.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -60.14877695249152, + -333.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -57.5507007411382, + -335.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -54.952624529784885, + -336.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -52.35454831843157, + -338.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -49.75647210707825, + -339.96410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -47.15839589572494, + -341.46410512075045, + -1.1131693264713967 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -47.15839589572494, + -341.46410512075045, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -45.65839589572494, + -344.06218133210376, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -44.15839589572494, + -346.6602575434571, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -42.65839589572494, + -349.2583337548104, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -41.15839589572494, + -351.8564099661637, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -39.65839589572494, + -354.454486177517, + -1.1131693264713967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -38.15839589572494, + -357.05256238887034, + -1.1131693264713967 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-42-14_342146590/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-42-14_342146590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07b5b7db7aa8b1684078b11068173f5fe8d4e06e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-42-14_342146590/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 937.3628717366487, + -180.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 937.3628717366487, + -183.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 937.3628717366487, + -186.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 937.3628717366487, + -189.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 937.3628717366487, + -192.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 937.3628717366487, + -195.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 937.3628717366487, + -198.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 937.3628717366487, + -201.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 937.3628717366487, + -204.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 937.3628717366487, + -207.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 937.3628717366487, + -210.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 937.3628717366487, + -213.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 937.3628717366487, + -216.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 937.3628717366487, + -219.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 937.3628717366487, + -222.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 937.3628717366487, + -225.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 937.3628717366487, + -228.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 937.3628717366487, + -231.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 937.3628717366487, + -234.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 937.3628717366487, + -237.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 937.3628717366487, + -240.62372538772934, + 2.733557396770978 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 937.3628717366487, + -240.62372538772934, + 2.733557396770978 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 937.3628717366487, + -240.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 934.7647955252953, + -242.12372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 932.1667193139419, + -243.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 929.5686431025886, + -245.12372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 926.9705668912352, + -246.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 924.3724906798818, + -248.12372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 921.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 921.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 921.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 921.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 921.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983085 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 921.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "turn left", + "value": 30, + "yaw": -9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 921.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 924.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 927.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 930.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 933.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 936.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 939.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 942.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 945.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 948.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 951.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 954.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 957.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 960.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 963.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 966.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 969.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 972.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 975.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 978.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 981.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 984.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 987.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 990.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 993.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 996.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 999.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 999.7744144685284, + -249.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1002.3724906798818, + -248.12372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1004.9705668912352, + -246.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1007.5686431025886, + -245.12372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1010.1667193139419, + -243.62372538772934, + 2.733557396770978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1012.7647955252953, + -242.12372538772934, + 2.733557396770978 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-43-22_672563970/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-43-22_672563970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4172043ef5a8f6d60601252ca277326ffe2fb257 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-43-22_672563970/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1185.4260275397364, + 178.27003404428018, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1186.9260275397364, + 180.8681102556335, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1188.4260275397364, + 183.4661864669868, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1189.9260275397364, + 186.06426267834013, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1191.4260275397364, + 188.66233888969344, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1192.9260275397364, + 191.26041510104676, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1194.4260275397364, + 193.85849131240008, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1195.9260275397364, + 196.4565675237534, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1197.4260275397364, + 199.0546437351067, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1198.9260275397364, + 201.65271994646002, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1200.4260275397364, + 204.25079615781334, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1201.9260275397364, + 206.84887236916666, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1203.4260275397364, + 209.44694858051997, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1204.9260275397364, + 212.0450247918733, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1206.4260275397364, + 214.6431010032266, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1207.9260275397364, + 217.24117721457992, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1209.4260275397364, + 219.83925342593324, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1210.9260275397364, + 222.43732963728655, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1212.4260275397364, + 225.03540584863987, + -3.3984339685540026 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1212.4260275397364, + 225.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1215.0241037510898, + 226.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1217.6221799624432, + 228.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1220.2202561737965, + 229.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1222.81833238515, + 231.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1225.4164085965033, + 232.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1228.0144848078567, + 234.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1230.61256101921, + 235.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1233.2106372305634, + 237.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1235.8087134419168, + 238.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1238.4067896532702, + 240.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1241.0048658646235, + 241.53540584863987, + -3.3984339685540026 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1241.0048658646235, + 241.53540584863987, + -3.3984339685540026 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1241.0048658646235, + 241.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1243.602942075977, + 240.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1246.2010182873303, + 238.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1248.7990944986836, + 237.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1251.397170710037, + 235.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1253.9952469213904, + 234.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1256.5933231327438, + 232.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1259.1913993440971, + 231.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1261.7894755554505, + 229.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1264.3875517668039, + 228.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1266.9856279781573, + 226.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1269.5837041895106, + 225.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1272.181780400864, + 223.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1274.7798566122174, + 222.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1277.3779328235707, + 220.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1279.9760090349241, + 219.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1282.5740852462775, + 217.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1285.1721614576309, + 216.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1287.7702376689842, + 214.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1290.3683138803376, + 213.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1292.966390091691, + 211.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1295.5644663030444, + 210.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1298.1625425143977, + 208.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1300.760618725751, + 207.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1303.3586949371045, + 205.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1305.9567711484578, + 204.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1308.5548473598112, + 202.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1311.1529235711646, + 201.03540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1313.750999782518, + 199.53540584863987, + -3.3984339685540026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1316.3490759938713, + 198.03540584863987, + -3.3984339685540026 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-45-44_1599893069/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-45-44_1599893069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d414a86aa126b3e18111893c25b0b14435a6412 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-45-44_1599893069/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1082.9525001234763, + -307.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1080.354423912123, + -305.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1077.7563477007695, + -304.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1075.1582714894162, + -302.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1072.5601952780628, + -301.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1069.9621190667094, + -299.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1067.364042855356, + -298.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1064.7659666440027, + -296.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1062.1678904326493, + -295.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1059.569814221296, + -293.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1056.9717380099426, + -292.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1054.3736617985892, + -290.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1051.7755855872358, + -289.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1049.1775093758824, + -287.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1046.579433164529, + -286.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1043.9813569531757, + -284.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1041.3832807418223, + -283.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1038.785204530469, + -281.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1036.1871283191156, + -280.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1033.5890521077622, + -278.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1030.9909758964088, + -277.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1028.3928996850555, + -275.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1025.794823473702, + -274.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1023.1967472623487, + -272.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1020.5986710509953, + -271.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1018.000594839642, + -269.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1015.4025186282886, + -268.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1012.8044424169352, + -266.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1010.2063662055818, + -265.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1007.6082899942285, + -263.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1005.0102137828751, + -262.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1002.4121375715217, + -260.74413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 999.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 999.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 999.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 999.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 999.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 999.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 999.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1002.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1005.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1008.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1011.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1014.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1017.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1020.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1023.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1026.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1029.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1032.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1035.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1038.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1041.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1044.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1044.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1044.8140613601684, + -259.24413999604417, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1046.3140613601684, + -256.64606378469085, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1047.8140613601684, + -254.04798757333754, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1049.3140613601684, + -251.44991136198422, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1050.8140613601684, + -248.8518351506309, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1052.3140613601684, + -246.2537589392776, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1053.8140613601684, + -243.65568272792427, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1055.3140613601684, + -241.05760651657096, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1056.8140613601684, + -238.45953030521764, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1058.3140613601684, + -235.86145409386432, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1059.8140613601684, + -233.263377882511, + 4.911015694538984 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1059.8140613601684, + -233.263377882511, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1062.4121375715217, + -231.763377882511, + 4.911015694538984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1065.010213782875, + -230.263377882511, + 4.911015694538984 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-45-6_1143195511/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-45-6_1143195511/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9973d4a0124200be049132de826ca6971cb6d2f3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-45-6_1143195511/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2.408106231505741, + -101.04820191004022, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -0.9081062315057404, + -98.4501256986869, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 0.59189376849426, + -95.85204948733359, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2.0918937684942605, + -93.25397327598027, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3.591893768494261, + -90.65589706462696, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 5.091893768494261, + -88.05782085327364, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 6.591893768494261, + -85.45974464192032, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 8.091893768494261, + -82.86166843056701, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 9.591893768494261, + -80.26359221921369, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.091893768494261, + -77.66551600786038, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 12.591893768494261, + -75.06743979650706, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 14.091893768494261, + -72.46936358515374, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 15.591893768494261, + -69.87128737380043, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 17.091893768494263, + -67.27321116244711, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965972 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 18.591893768494263, + -64.6751349510938, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 20.091893768494263, + -62.07705873974048, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 21.591893768494263, + -59.478982528387164, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 23.091893768494263, + -56.88090631703385, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 24.591893768494263, + -54.28283010568053, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 26.091893768494263, + -51.684753894327216, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 27.591893768494263, + -49.0866776829739, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 29.091893768494263, + -46.48860147162058, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 30.591893768494263, + -43.89052526026727, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 32.091893768494266, + -41.29244904891395, + 1.8103666093272377 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965967 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 32.091893768494266, + -41.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 32.091893768494266, + -38.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 32.091893768494266, + -35.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 32.091893768494266, + -32.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 32.091893768494266, + -29.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 32.091893768494266, + -26.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 32.091893768494266, + -23.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 32.091893768494266, + -20.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 32.091893768494266, + -17.29244904891395, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 32.091893768494266, + -14.292449048913952, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 32.091893768494266, + -11.292449048913952, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 32.091893768494266, + -8.292449048913952, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 32.091893768494266, + -5.2924490489139515, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 32.091893768494266, + -2.2924490489139515, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 32.091893768494266, + 0.7075509510860485, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 32.091893768494266, + 3.7075509510860485, + 1.8103666093272377 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 32.091893768494266, + 3.7075509510860485, + 1.8103666093272377 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 32.091893768494266, + 3.7075509510860485, + 1.8103666093272377 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 32.091893768494266, + 3.7075509510860485, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 34.68996997984758, + 5.2075509510860485, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 37.2880461912009, + 6.7075509510860485, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 39.886122402554214, + 8.207550951086048, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 42.48419861390753, + 9.707550951086048, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 45.082274825260846, + 11.207550951086048, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 47.68035103661416, + 12.707550951086048, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 50.27842724796748, + 14.207550951086048, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 52.876503459320794, + 15.707550951086048, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 55.47457967067411, + 17.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 58.072655882027426, + 18.70755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 60.67073209338074, + 20.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 63.26880830473406, + 21.70755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 65.86688451608737, + 23.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 68.46496072744068, + 24.70755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 71.063036938794, + 26.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 73.66111315014732, + 27.70755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 76.25918936150063, + 29.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 78.85726557285395, + 30.70755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 81.45534178420726, + 32.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 84.05341799556058, + 33.70755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 86.6514942069139, + 35.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 89.24957041826721, + 36.70755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 91.84764662962053, + 38.20755095108605, + 1.8103666093272377 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 91.84764662962053, + 38.20755095108605, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 93.34764662962053, + 40.805627162439364, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 94.84764662962053, + 43.40370337379268, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 96.34764662962053, + 46.001779585146, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 97.84764662962053, + 48.59985579649931, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 99.34764662962053, + 51.19793200785263, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 100.84764662962053, + 53.796008219205945, + 1.8103666093272377 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 100.84764662962053, + 53.796008219205945, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 103.44572284097384, + 55.296008219205945, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 106.04379905232716, + 56.796008219205945, + 1.8103666093272377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 108.64187526368048, + 58.296008219205945, + 1.8103666093272377 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-46-16_2083149517/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-46-16_2083149517/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..441ed55a6ca4050e074196f1ec85305fff1b9da6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-46-16_2083149517/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 822.8313870349796, + -333.29819072145875, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 822.8313870349796, + -336.29819072145875, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 822.8313870349796, + -339.29819072145875, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 822.8313870349796, + -342.29819072145875, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 822.8313870349796, + -345.29819072145875, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 822.8313870349796, + -348.29819072145875, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 822.8313870349796, + -351.29819072145875, + -1.8759576317892197 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 822.8313870349796, + -351.29819072145875, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 824.3313870349796, + -353.89626693281207, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 825.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 825.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 825.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 825.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 828.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 831.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 834.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 837.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 840.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 843.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 846.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 849.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 852.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 852.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 852.8313870349796, + -356.4943431441654, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 854.3313870349796, + -359.0924193555187, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 855.8313870349796, + -361.690495566872, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 857.3313870349796, + -364.28857177822533, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 858.8313870349796, + -366.88664798957865, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 860.3313870349796, + -369.48472420093196, + -1.8759576317892197 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 860.3313870349796, + -369.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 862.929463246333, + -370.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 865.5275394576863, + -372.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 868.1256156690397, + -373.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 870.7236918803931, + -375.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 873.3217680917464, + -376.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 875.9198443030998, + -378.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 878.5179205144532, + -379.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 881.1159967258066, + -381.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 883.7140729371599, + -382.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 886.3121491485133, + -384.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 888.9102253598667, + -385.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 891.50830157122, + -387.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 894.1063777825734, + -388.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 896.7044539939268, + -390.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 899.3025302052802, + -391.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 901.9006064166335, + -393.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 904.4986826279869, + -394.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 907.0967588393403, + -396.48472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 909.6948350506937, + -397.98472420093196, + -1.8759576317892197 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 912.292911262047, + -399.48472420093196, + -1.8759576317892197 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-47-18_190113083/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-47-18_190113083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e57958023c2a49943c7203107ccc781c2f0e900c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-47-18_190113083/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -197.235523770403, + -40.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -197.235523770403, + -43.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -197.235523770403, + -46.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -197.235523770403, + -49.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -197.235523770403, + -52.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -197.235523770403, + -55.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -197.235523770403, + -58.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -197.235523770403, + -61.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -197.235523770403, + -64.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -197.235523770403, + -67.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -197.235523770403, + -70.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -197.235523770403, + -73.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -197.235523770403, + -76.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -197.235523770403, + -79.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -197.235523770403, + -82.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -197.235523770403, + -85.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -197.235523770403, + -88.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -197.235523770403, + -91.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -197.235523770403, + -94.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -197.235523770403, + -97.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -197.235523770403, + -100.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -197.235523770403, + -103.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -197.235523770403, + -106.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -197.235523770403, + -109.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -197.235523770403, + -112.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -197.235523770403, + -115.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -197.235523770403, + -118.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -197.235523770403, + -121.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -197.235523770403, + -124.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -197.235523770403, + -127.84504046801867, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -197.235523770403, + -130.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -197.235523770403, + -133.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -197.235523770403, + -136.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -197.235523770403, + -139.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -197.235523770403, + -142.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -197.235523770403, + -145.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -197.235523770403, + -148.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -197.235523770403, + -151.84504046801868, + 1.3151285089887281 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -197.235523770403, + -151.84504046801868, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -198.735523770403, + -154.443116679372, + 1.3151285089887281 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -198.735523770403, + -154.443116679372, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -201.33359998175632, + -155.943116679372, + 1.3151285089887281 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -201.33359998175632, + -155.943116679372, + 1.3151285089887281 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -201.33359998175632, + -155.943116679372, + 1.3151285089887281 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948963 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -201.33359998175632, + -155.943116679372, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -199.83359998175632, + -158.5411928907253, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -198.33359998175632, + -161.13926910207863, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -196.83359998175632, + -163.73734531343194, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -195.33359998175632, + -166.33542152478526, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -193.83359998175632, + -168.93349773613858, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -192.33359998175632, + -171.5315739474919, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -190.83359998175632, + -174.1296501588452, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -189.33359998175632, + -176.72772637019852, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -187.83359998175632, + -179.32580258155184, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -186.33359998175632, + -181.92387879290516, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -184.83359998175632, + -184.52195500425847, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -183.33359998175632, + -187.1200312156118, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -181.83359998175632, + -189.7181074269651, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -180.33359998175632, + -192.31618363831842, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -178.83359998175632, + -194.91425984967174, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -177.33359998175632, + -197.51233606102505, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -175.83359998175632, + -200.11041227237837, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -174.33359998175632, + -202.70848848373168, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -172.83359998175632, + -205.306564695085, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -171.33359998175632, + -207.90464090643832, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -169.83359998175632, + -210.50271711779163, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -168.33359998175632, + -213.10079332914495, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -166.83359998175632, + -215.69886954049826, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -165.33359998175632, + -218.29694575185158, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -163.83359998175632, + -220.8950219632049, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -162.33359998175632, + -223.4930981745582, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -160.83359998175632, + -226.09117438591153, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -159.33359998175632, + -228.68925059726485, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -157.83359998175632, + -231.28732680861816, + 1.3151285089887281 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -157.83359998175632, + -231.28732680861816, + 1.3151285089887281 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -155.235523770403, + -232.78732680861816, + 1.3151285089887281 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-48-54_1928189300/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-48-54_1928189300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee129ee4f2609ceaeb7ced552b60af09eb1a7a72 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-48-54_1928189300/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 28.447976508391225, + 82.36025030736945, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 28.447976508391225, + 79.36025030736945, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 28.447976508391225, + 76.36025030736945, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 28.447976508391225, + 73.36025030736945, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 28.447976508391225, + 70.36025030736945, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 28.447976508391225, + 67.36025030736945, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 28.447976508391225, + 64.36025030736945, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 28.447976508391225, + 61.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 28.447976508391225, + 58.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 28.447976508391225, + 55.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 28.447976508391225, + 52.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 28.447976508391225, + 49.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 28.447976508391225, + 46.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 28.447976508391225, + 43.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.447976508391225, + 40.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 28.447976508391225, + 37.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 28.447976508391225, + 34.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.447976508391225, + 31.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 28.447976508391225, + 28.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 28.447976508391225, + 25.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 28.447976508391225, + 22.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 28.447976508391225, + 19.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 28.447976508391225, + 16.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 28.447976508391225, + 13.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 28.447976508391225, + 10.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 28.447976508391225, + 7.360250307369455, + 3.661967481816701 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 28.447976508391225, + 7.360250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 29.947976508391225, + 4.762174096016139, + 3.661967481816701 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 29.947976508391225, + 4.762174096016139, + 3.661967481816701 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 29.947976508391225, + 4.762174096016139, + 3.661967481816701 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 29.947976508391225, + 4.762174096016139, + 3.661967481816701 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 29.947976508391225, + 4.762174096016139, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 32.54605271974454, + 6.262174096016139, + 3.661967481816701 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 32.54605271974454, + 6.262174096016139, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965983 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 34.04605271974454, + 8.860250307369455, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 35.54605271974454, + 11.458326518722771, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 37.04605271974454, + 14.056402730076087, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 38.54605271974454, + 16.654478941429403, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 40.04605271974454, + 19.25255515278272, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 41.54605271974454, + 21.850631364136035, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 43.04605271974454, + 24.44870757548935, + 3.661967481816701 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 43.04605271974454, + 24.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 45.64412893109785, + 25.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 48.24220514245117, + 27.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 50.840281353804485, + 28.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 53.4383575651578, + 30.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 56.03643377651112, + 31.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 58.63450998786443, + 33.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 61.23258619921775, + 34.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 63.830662410571065, + 36.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 66.42873862192438, + 37.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 69.0268148332777, + 39.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 71.62489104463101, + 40.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 74.22296725598433, + 42.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 76.82104346733765, + 43.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 79.41911967869096, + 45.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 82.01719589004428, + 46.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 84.6152721013976, + 48.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 87.21334831275091, + 49.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 89.81142452410423, + 51.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 92.40950073545754, + 52.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 95.00757694681086, + 54.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 97.60565315816417, + 55.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 100.20372936951749, + 57.44870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 102.8018055808708, + 58.94870757548935, + 3.661967481816701 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 102.8018055808708, + 58.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 105.8018055808708, + 58.94870757548935, + 3.661967481816701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 108.8018055808708, + 58.94870757548935, + 3.661967481816701 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-5-26_1396918184/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-5-26_1396918184/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..147481b1b53c646aeeb55e66d33f8199bb05f80d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-5-26_1396918184/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -185.2921852492525, + -552.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -185.2921852492525, + -549.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.2921852492525, + -546.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -185.2921852492525, + -543.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -185.2921852492525, + -540.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -185.2921852492525, + -537.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -185.2921852492525, + -534.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.2921852492525, + -531.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -185.2921852492525, + -528.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -185.2921852492525, + -525.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -185.2921852492525, + -522.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -185.2921852492525, + -519.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -185.2921852492525, + -516.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -185.2921852492525, + -513.3068171378396, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -185.2921852492525, + -510.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -185.2921852492525, + -507.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -185.2921852492525, + -504.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -185.2921852492525, + -501.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -185.2921852492525, + -498.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -185.2921852492525, + -495.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -185.2921852492525, + -492.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -185.2921852492525, + -489.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -185.2921852492525, + -486.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -185.2921852492525, + -483.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -185.2921852492525, + -480.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -185.2921852492525, + -477.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -185.2921852492525, + -474.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -185.2921852492525, + -471.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -185.2921852492525, + -468.30681713783963, + 0.9245102501450333 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -185.2921852492525, + -468.30681713783963, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -186.7921852492525, + -465.7087409264863, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -188.2921852492525, + -463.110664715133, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -189.7921852492525, + -460.5125885037797, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -191.2921852492525, + -457.91451229242637, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -192.7921852492525, + -455.31643608107305, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -194.2921852492525, + -452.71835986971973, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -195.7921852492525, + -450.1202836583664, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -197.2921852492525, + -447.5222074470131, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -198.7921852492525, + -444.9241312356598, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -200.2921852492525, + -442.32605502430647, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -201.7921852492525, + -439.72797881295315, + 0.9245102501450333 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -201.7921852492525, + -439.72797881295315, + 0.9245102501450333 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -201.7921852492525, + -439.72797881295315, + 0.9245102501450333 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -201.7921852492525, + -439.72797881295315, + 0.9245102501450333 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -201.7921852492525, + -439.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -199.19410903789918, + -438.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -196.59603282654587, + -436.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -193.99795661519255, + -435.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -191.39988040383923, + -433.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -188.80180419248592, + -432.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -186.2037279811326, + -430.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -183.60565176977929, + -429.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -181.00757555842597, + -427.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -178.40949934707265, + -426.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -175.81142313571934, + -424.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -173.21334692436602, + -423.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -170.6152707130127, + -421.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -168.0171945016594, + -420.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -165.41911829030607, + -418.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -162.82104207895276, + -417.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -160.22296586759944, + -415.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -157.62488965624613, + -414.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -155.0268134448928, + -412.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -152.4287372335395, + -411.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -149.83066102218618, + -409.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -147.23258481083286, + -408.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -144.63450859947955, + -406.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -142.03643238812623, + -405.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -139.4383561767729, + -403.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -136.8402799654196, + -402.22797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -134.24220375406628, + -400.72797881295315, + 0.9245102501450333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -131.64412754271297, + -399.22797881295315, + 0.9245102501450333 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-56-39_1209734969/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-56-39_1209734969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..103d2d2b65a855e3ee118069d31ef40520b92a88 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-56-39_1209734969/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 493.9976758165023, + -278.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 493.9976758165023, + -281.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 493.9976758165023, + -284.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 493.9976758165023, + -287.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 493.9976758165023, + -290.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 493.9976758165023, + -293.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 493.9976758165023, + -296.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 493.9976758165023, + -299.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 493.9976758165023, + -302.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 493.9976758165023, + -305.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 493.9976758165023, + -308.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 493.9976758165023, + -311.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 493.9976758165023, + -314.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.9976758165023, + -317.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 493.9976758165023, + -320.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 493.9976758165023, + -323.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 493.9976758165023, + -326.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 493.9976758165023, + -329.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 493.9976758165023, + -332.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 493.9976758165023, + -335.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 493.9976758165023, + -338.3004397504086, + -3.5683024617440764 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 493.9976758165023, + -338.3004397504086, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 495.4976758165023, + -340.8985159617619, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 496.9976758165023, + -343.49659217311523, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 498.4976758165023, + -346.09466838446855, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 499.9976758165023, + -348.69274459582186, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 501.4976758165023, + -351.2908208071752, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 502.9976758165023, + -353.8888970185285, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 504.4976758165023, + -356.4869732298818, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 505.9976758165023, + -359.0850494412351, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 507.4976758165023, + -361.68312565258844, + -3.5683024617440764 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 507.4976758165023, + -361.68312565258844, + -3.5683024617440764 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 507.4976758165023, + -361.68312565258844, + -3.5683024617440764 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 507.4976758165023, + -361.68312565258844, + -3.5683024617440764 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 507.4976758165023, + -361.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 504.899599605149, + -363.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 502.30152339379566, + -364.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 499.70344718244235, + -366.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 497.10537097108903, + -367.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 494.5072947597357, + -369.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 491.9092185483824, + -370.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 489.3111423370291, + -372.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 486.71306612567577, + -373.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 484.11498991432245, + -375.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 481.51691370296913, + -376.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 478.9188374916158, + -378.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 476.3207612802625, + -379.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 473.7226850689092, + -381.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 471.12460885755587, + -382.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 468.52653264620255, + -384.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 465.92845643484924, + -385.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 463.3303802234959, + -387.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 460.7323040121426, + -388.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 458.1342278007893, + -390.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 455.536151589436, + -391.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 452.93807537808266, + -393.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 450.33999916672934, + -394.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 447.741922955376, + -396.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 445.1438467440227, + -397.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 442.5457705326694, + -399.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 439.9476943213161, + -400.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 437.34961810996276, + -402.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 434.75154189860945, + -403.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 432.15346568725613, + -405.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 429.5553894759028, + -406.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 426.9573132645495, + -408.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 424.3592370531962, + -409.68312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 421.76116084184287, + -411.18312565258844, + -3.5683024617440764 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 421.76116084184287, + -411.18312565258844, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 420.26116084184287, + -413.78120186394176, + -3.5683024617440764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 418.76116084184287, + -416.3792780752951, + -3.5683024617440764 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-57-11_434290636/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-57-11_434290636/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b523c2de4b3868a99646333d6c1622814472f49 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-57-11_434290636/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1346.7684215065717, + 61.853670566920385, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1349.7684215065717, + 61.853670566920385, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1352.7684215065717, + 61.853670566920385, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1352.7684215065717, + 61.853670566920385, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1352.7684215065717, + 61.853670566920385, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1354.2684215065717, + 64.4517467782737, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1355.7684215065717, + 67.04982298962702, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1357.2684215065717, + 69.64789920098033, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1358.7684215065717, + 72.24597541233365, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1360.2684215065717, + 74.84405162368697, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1361.7684215065717, + 77.44212783504028, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1363.2684215065717, + 80.0402040463936, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1364.7684215065717, + 82.63828025774691, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1366.2684215065717, + 85.23635646910023, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1367.7684215065717, + 87.83443268045355, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1369.2684215065717, + 90.43250889180686, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1370.7684215065717, + 93.03058510316018, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1372.2684215065717, + 95.6286613145135, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1373.7684215065717, + 98.22673752586681, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1375.2684215065717, + 100.82481373722013, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1376.7684215065717, + 103.42288994857344, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1378.2684215065717, + 106.02096615992676, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1379.7684215065717, + 108.61904237128007, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1381.2684215065717, + 111.21711858263339, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1382.7684215065717, + 113.8151947939867, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1384.2684215065717, + 116.41327100534002, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1385.7684215065717, + 119.01134721669334, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1387.2684215065717, + 121.60942342804665, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1388.7684215065717, + 124.20749963939997, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1390.2684215065717, + 126.80557585075329, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1391.7684215065717, + 129.4036520621066, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1393.2684215065717, + 132.00172827345992, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1394.7684215065717, + 134.59980448481323, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1396.2684215065717, + 137.19788069616655, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1397.7684215065717, + 139.79595690751987, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1399.2684215065717, + 142.39403311887318, + 4.603823999123486 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1399.2684215065717, + 142.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1401.866497717925, + 143.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1404.4645739292785, + 145.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1407.0626501406318, + 146.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1409.6607263519852, + 148.39403311887318, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1409.6607263519852, + 148.39403311887318, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1409.6607263519852, + 148.39403311887318, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1409.6607263519852, + 148.39403311887318, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1409.6607263519852, + 148.39403311887318, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1409.6607263519852, + 148.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1407.0626501406318, + 149.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1404.4645739292785, + 151.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1401.866497717925, + 152.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1399.2684215065717, + 154.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1396.6703452952183, + 155.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1394.072269083865, + 157.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1391.4741928725116, + 158.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1388.8761166611582, + 160.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1386.2780404498048, + 161.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1383.6799642384515, + 163.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1381.081888027098, + 164.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1378.4838118157447, + 166.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1375.8857356043914, + 167.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1373.287659393038, + 169.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1370.6895831816846, + 170.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1368.0915069703312, + 172.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1365.4934307589779, + 173.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1362.8953545476245, + 175.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1360.2972783362711, + 176.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1357.6992021249177, + 178.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1355.1011259135644, + 179.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1352.503049702211, + 181.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1349.9049734908576, + 182.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1347.3068972795043, + 184.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1344.7088210681509, + 185.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1342.1107448567975, + 187.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1339.5126686454441, + 188.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1336.9145924340908, + 190.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1334.3165162227374, + 191.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1331.718440011384, + 193.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1329.1203638000306, + 194.89403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1326.5222875886773, + 196.39403311887318, + 4.603823999123486 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1326.5222875886773, + 196.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1323.5222875886773, + 196.39403311887318, + 4.603823999123486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1320.5222875886773, + 196.39403311887318, + 4.603823999123486 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-57-48_1724916170/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-57-48_1724916170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96e19792755c499b6ba8252537be2de74f42b962 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-57-48_1724916170/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 137.00244561012545, + 170.06526011960565, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 139.60052182147876, + 168.56526011960565, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 142.19859803283208, + 167.06526011960565, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 144.7966742441854, + 165.56526011960565, + 0.3041611018474901 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 144.7966742441854, + 165.56526011960565, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 146.2966742441854, + 162.96718390825234, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 147.7966742441854, + 160.36910769689902, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 149.2966742441854, + 157.7710314855457, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 150.7966742441854, + 155.1729552741924, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 152.2966742441854, + 152.57487906283907, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 153.7966742441854, + 149.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 155.2966742441854, + 147.37872664013244, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 156.7966742441854, + 144.78065042877913, + 0.3041611018474901 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 156.7966742441854, + 144.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 156.7966742441854, + 141.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 156.7966742441854, + 138.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 156.7966742441854, + 135.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 156.7966742441854, + 132.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 156.7966742441854, + 129.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 156.7966742441854, + 126.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 156.7966742441854, + 123.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 156.7966742441854, + 120.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 156.7966742441854, + 117.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 156.7966742441854, + 114.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 156.7966742441854, + 111.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 156.7966742441854, + 108.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 156.7966742441854, + 105.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 156.7966742441854, + 102.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 156.7966742441854, + 99.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 156.7966742441854, + 96.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 156.7966742441854, + 93.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 156.7966742441854, + 90.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 156.7966742441854, + 87.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 156.7966742441854, + 84.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 156.7966742441854, + 81.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 156.7966742441854, + 78.78065042877913, + 0.3041611018474901 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 156.7966742441854, + 78.78065042877913, + 0.3041611018474901 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 156.7966742441854, + 78.78065042877913, + 0.3041611018474901 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 156.7966742441854, + 78.78065042877913, + 0.3041611018474901 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 156.7966742441854, + 78.78065042877913, + 0.3041611018474901 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 156.7966742441854, + 78.78065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 159.3947504555387, + 80.28065042877913, + 0.3041611018474901 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 159.3947504555387, + 80.28065042877913, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 160.8947504555387, + 82.87872664013244, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 162.3947504555387, + 85.47680285148576, + 0.3041611018474901 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 162.3947504555387, + 85.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 164.99282666689203, + 86.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 167.59090287824534, + 88.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 170.18897908959866, + 89.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 172.78705530095198, + 91.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 175.3851315123053, + 92.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 177.9832077236586, + 94.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 180.58128393501192, + 95.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 183.17936014636524, + 97.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 185.77743635771856, + 98.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 188.37551256907187, + 100.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 190.9735887804252, + 101.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 193.5716649917785, + 103.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 196.16974120313182, + 104.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 198.76781741448514, + 106.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 201.36589362583845, + 107.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 203.96396983719177, + 109.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 206.56204604854508, + 110.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 209.1601222598984, + 112.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 211.75819847125172, + 113.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 214.35627468260503, + 115.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 216.95435089395835, + 116.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 219.55242710531166, + 118.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 222.15050331666498, + 119.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 224.7485795280183, + 121.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 227.3466557393716, + 122.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 229.94473195072493, + 124.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 232.54280816207825, + 125.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 235.14088437343156, + 127.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 237.73896058478488, + 128.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 240.3370367961382, + 130.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 242.9351130074915, + 131.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 245.53318921884483, + 133.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 248.13126543019814, + 134.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 250.72934164155146, + 136.47680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 253.32741785290477, + 137.97680285148576, + 0.3041611018474901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 255.9254940642581, + 139.47680285148576, + 0.3041611018474901 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-7-48_2060975266/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-7-48_2060975266/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0baad43e3b2cd465bc03e75093a70ca51d8161ac --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-7-48_2060975266/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.45116068418993, + 80.90148054328088, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 88.95116068418993, + 83.4995567546342, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 90.45116068418993, + 86.09763296598751, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 91.95116068418993, + 88.69570917734083, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 93.45116068418993, + 91.29378538869415, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 94.95116068418993, + 93.89186160004746, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 96.45116068418993, + 96.48993781140078, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 97.95116068418993, + 99.0880140227541, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.45116068418993, + 101.68609023410741, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 100.95116068418993, + 104.28416644546073, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 102.45116068418993, + 106.88224265681404, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 103.95116068418993, + 109.48031886816736, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 105.45116068418993, + 112.07839507952067, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 106.95116068418993, + 114.67647129087399, + -1.5509015041979812 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 106.95116068418993, + 114.67647129087399, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 106.95116068418993, + 117.67647129087399, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 106.95116068418993, + 120.67647129087399, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 106.95116068418993, + 123.67647129087399, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 106.95116068418993, + 126.67647129087399, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 106.95116068418993, + 129.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 106.95116068418993, + 132.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 106.95116068418993, + 135.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 106.95116068418993, + 138.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 106.95116068418993, + 141.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 106.95116068418993, + 144.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 106.95116068418993, + 147.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 106.95116068418993, + 150.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 106.95116068418993, + 153.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 106.95116068418993, + 156.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 106.95116068418993, + 159.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 106.95116068418993, + 162.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 106.95116068418993, + 165.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 106.95116068418993, + 168.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 106.95116068418993, + 171.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 106.95116068418993, + 174.676471290874, + -1.5509015041979812 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 106.95116068418993, + 174.676471290874, + -1.5509015041979812 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 106.95116068418993, + 174.676471290874, + -1.5509015041979812 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 106.95116068418993, + 174.676471290874, + -1.5509015041979812 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 106.95116068418993, + 174.676471290874, + -1.5509015041979812 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 106.95116068418993, + 174.676471290874, + -1.5509015041979812 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 106.95116068418993, + 174.676471290874, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 108.45116068418993, + 172.07839507952067, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 109.95116068418993, + 169.48031886816736, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 111.45116068418993, + 166.88224265681404, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 112.95116068418993, + 164.28416644546073, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 114.45116068418993, + 161.6860902341074, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 115.95116068418993, + 159.0880140227541, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 117.45116068418993, + 156.48993781140078, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 118.95116068418993, + 153.89186160004746, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 120.45116068418993, + 151.29378538869415, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 121.95116068418993, + 148.69570917734083, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 123.45116068418993, + 146.09763296598751, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 124.95116068418993, + 143.4995567546342, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 126.45116068418993, + 140.90148054328088, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 127.95116068418993, + 138.30340433192757, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 129.45116068418994, + 135.70532812057425, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965936 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 130.95116068418994, + 133.10725190922093, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 132.45116068418994, + 130.50917569786762, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 133.95116068418994, + 127.9110994865143, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 135.45116068418994, + 125.31302327516099, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 136.95116068418994, + 122.71494706380767, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 138.45116068418994, + 120.11687085245435, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 139.95116068418994, + 117.51879464110104, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 141.45116068418994, + 114.92071842974772, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 142.95116068418994, + 112.3226422183944, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 144.45116068418994, + 109.72456600704109, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 145.95116068418994, + 107.12648979568777, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 147.45116068418994, + 104.52841358433446, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 148.95116068418994, + 101.93033737298114, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 150.45116068418994, + 99.33226116162783, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 151.95116068418994, + 96.73418495027451, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 153.45116068418994, + 94.1361087389212, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 154.95116068418994, + 91.53803252756788, + -1.5509015041979812 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 154.95116068418994, + 91.53803252756788, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 154.95116068418994, + 88.53803252756788, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 154.95116068418994, + 85.53803252756788, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 154.95116068418994, + 82.53803252756788, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 154.95116068418994, + 79.53803252756788, + -1.5509015041979812 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 154.95116068418994, + 76.53803252756788, + -1.5509015041979812 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-9-35_1849552528/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-9-35_1849552528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abd2c3141e7e05fc0ff683e5fca412b29cf0a163 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_7-9-35_1849552528/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -28.928997222019717, + -559.6943993492542, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -27.428997222019717, + -557.096323137901, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -25.928997222019717, + -554.4982469265476, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -24.428997222019717, + -551.9001707151942, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -22.928997222019717, + -549.3020945038409, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -21.428997222019717, + -546.7040182924875, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -19.928997222019717, + -544.1059420811341, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -18.428997222019717, + -541.5078658697807, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -16.928997222019717, + -538.9097896584274, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -15.428997222019717, + -536.311713447074, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -13.928997222019717, + -533.7136372357206, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -12.428997222019717, + -531.1155610243673, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -10.928997222019717, + -528.5174848130139, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -9.428997222019717, + -525.9194086016605, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -7.928997222019717, + -523.3213323903071, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -6.428997222019717, + -520.7232561789538, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -4.928997222019717, + -518.1251799676004, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -3.4289972220197167, + -515.527103756247, + -1.91335669648584 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -3.4289972220197167, + -515.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -3.4289972220197167, + -512.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -3.4289972220197167, + -509.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -3.4289972220197167, + -506.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -3.4289972220197167, + -503.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -3.4289972220197167, + -500.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -3.4289972220197167, + -497.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -3.4289972220197167, + -494.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -3.4289972220197167, + -491.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -3.4289972220197167, + -488.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -3.4289972220197167, + -485.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -3.4289972220197167, + -482.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -3.4289972220197167, + -479.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -3.4289972220197167, + -476.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -3.4289972220197167, + -473.527103756247, + -1.91335669648584 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -3.4289972220197167, + -473.527103756247, + -1.91335669648584 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -3.4289972220197167, + -473.527103756247, + -1.91335669648584 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -3.4289972220197167, + -473.527103756247, + -1.91335669648584 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -3.4289972220197167, + -473.527103756247, + -1.91335669648584 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -3.4289972220197167, + -473.527103756247, + -1.91335669648584 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -3.4289972220197167, + -473.527103756247, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1.9289972220197162, + -476.12517996760033, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -0.4289972220197158, + -478.72325617895365, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1.0710027779802846, + -481.32133239030696, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2.571002777980285, + -483.9194086016603, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4.0710027779802855, + -486.5174848130136, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 5.571002777980286, + -489.1155610243669, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 7.071002777980286, + -491.7136372357202, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 8.571002777980286, + -494.31171344707354, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 10.071002777980286, + -496.90978965842686, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 11.571002777980286, + -499.5078658697802, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 13.071002777980286, + -502.1059420811335, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 14.571002777980286, + -504.7040182924868, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 16.071002777980286, + -507.3020945038401, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 17.571002777980286, + -509.90017071519344, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 19.071002777980286, + -512.4982469265467, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 20.571002777980286, + -515.0963231379001, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 22.071002777980286, + -517.6943993492534, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 23.571002777980286, + -520.2924755606068, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 25.071002777980286, + -522.8905517719602, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 26.571002777980286, + -525.4886279833136, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 28.071002777980286, + -528.0867041946669, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 29.571002777980286, + -530.6847804060203, + -1.91335669648584 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 29.571002777980286, + -530.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 29.571002777980286, + -533.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 29.571002777980286, + -536.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 29.571002777980286, + -539.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 29.571002777980286, + -542.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 29.571002777980286, + -545.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 29.571002777980286, + -548.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 29.571002777980286, + -551.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 29.571002777980286, + -554.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 29.571002777980286, + -557.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 29.571002777980286, + -560.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 29.571002777980286, + -563.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 29.571002777980286, + -566.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 29.571002777980286, + -569.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 29.571002777980286, + -572.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 29.571002777980286, + -575.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 29.571002777980286, + -578.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 29.571002777980286, + -581.6847804060203, + -1.91335669648584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 29.571002777980286, + -584.6847804060203, + -1.91335669648584 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-1-3_825726814/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-1-3_825726814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6251494b3f0f6b09ba1fde584838beddc152a06b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-1-3_825726814/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1388.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1391.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1394.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1397.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1400.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1403.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1406.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1409.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1412.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1415.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1418.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1421.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1424.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1427.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1430.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1433.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1436.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1439.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1442.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1445.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1448.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1451.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1454.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1457.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1457.5574555495716, + 3.2397339304386463, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1460.155531760925, + 4.739733930438646, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1462.7536079722784, + 6.239733930438646, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1465.3516841836317, + 7.739733930438646, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1467.949760394985, + 9.239733930438646, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1470.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1470.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1473.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1476.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1476.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1476.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1476.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1476.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1476.5478366063385, + 10.739733930438646, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1475.0478366063385, + 8.14165771908533, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1473.5478366063385, + 5.543581507732014, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1472.0478366063385, + 2.9455052963786983, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1470.5478366063385, + 0.3474290850253823, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1469.0478366063385, + -2.2506471263279337, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1467.5478366063385, + -4.84872333768125, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1466.0478366063385, + -7.446799549034566, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1464.5478366063385, + -10.044875760387882, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1463.0478366063385, + -12.642951971741198, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1461.5478366063385, + -15.241028183094514, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1460.0478366063385, + -17.83910439444783, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1458.5478366063385, + -20.437180605801146, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1457.0478366063385, + -23.035256817154462, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1455.5478366063385, + -25.633333028507778, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1454.0478366063385, + -28.231409239861094, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1452.5478366063385, + -30.82948545121441, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1451.0478366063385, + -33.427561662567726, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1449.5478366063385, + -36.02563787392104, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1448.0478366063385, + -38.62371408527436, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1446.5478366063385, + -41.221790296627674, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1445.0478366063385, + -43.81986650798099, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1443.5478366063385, + -46.417942719334306, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1442.0478366063385, + -49.01601893068762, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1440.5478366063385, + -51.61409514204094, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1439.0478366063385, + -54.212171353394254, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1437.5478366063385, + -56.81024756474757, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1436.0478366063385, + -59.408323776100886, + 0.23764000326579993 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1436.0478366063385, + -59.408323776100886, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1436.0478366063385, + -62.408323776100886, + 0.23764000326579993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1436.0478366063385, + -65.40832377610089, + 0.23764000326579993 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-10-28_616734673/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-10-28_616734673/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a8bc51fbfc74f00678c19144db74f354b1fb99b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-10-28_616734673/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1475.150071150254, + -180.47624917039943, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1473.650071150254, + -177.8781729590461, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1472.150071150254, + -175.2800967476928, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1470.650071150254, + -172.68202053633948, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1469.150071150254, + -170.08394432498616, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1467.650071150254, + -167.48586811363285, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1466.150071150254, + -164.88779190227953, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1464.650071150254, + -162.28971569092622, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1463.150071150254, + -159.6916394795729, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1461.650071150254, + -157.09356326821958, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1460.150071150254, + -154.49548705686627, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1458.650071150254, + -151.89741084551295, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1457.150071150254, + -149.29933463415964, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1455.650071150254, + -146.70125842280632, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1454.150071150254, + -144.103182211453, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1452.650071150254, + -141.5051060000997, + 2.777948128985197 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1452.650071150254, + -141.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1452.650071150254, + -138.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1452.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1452.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1452.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1452.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1452.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1455.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1458.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1461.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1464.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1467.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1470.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1473.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1476.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1479.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1482.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1485.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1488.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1491.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1494.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1497.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1500.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1503.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1506.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1506.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1506.650071150254, + -135.5051060000997, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1508.150071150254, + -132.90702978874637, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1509.650071150254, + -130.30895357739305, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1511.150071150254, + -127.71087736603974, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1512.650071150254, + -125.11280115468642, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1514.150071150254, + -122.5147249433331, + 2.777948128985197 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1514.150071150254, + -122.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1516.7481473616074, + -121.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1519.3462235729608, + -119.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1521.9442997843141, + -118.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1524.5423759956675, + -116.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1527.1404522070209, + -115.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1529.7385284183742, + -113.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1532.3366046297276, + -112.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1534.934680841081, + -110.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1537.5327570524344, + -109.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1540.1308332637877, + -107.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1542.728909475141, + -106.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1545.3269856864945, + -104.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1547.9250618978479, + -103.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1550.5231381092012, + -101.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1553.1212143205546, + -100.0147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1555.719290531908, + -98.5147249433331, + 2.777948128985197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1558.3173667432613, + -97.0147249433331, + 2.777948128985197 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-13-39_752704313/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-13-39_752704313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7639a1efd5609f5ec92b6d04de28919bfafadc64 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-13-39_752704313/pose.jsonl @@ -0,0 +1,1146 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -27.98667039781327, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -24.98667039781327, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -21.98667039781327, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -18.98667039781327, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -15.98667039781327, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -12.98667039781327, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -9.98667039781327, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -6.9866703978132705, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -3.9866703978132705, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -0.9866703978132705, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2.0133296021867295, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 5.0133296021867295, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 11.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 17.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 20.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 23.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 26.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 29.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 32.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 35.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 38.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 44.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 47.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 50.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 53.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 56.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 59.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 62.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 65.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 68.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 71.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 71.01332960218673, + -394.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 73.61140581354005, + -396.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 76.20948202489336, + -397.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 78.80755823624668, + -399.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 81.4056344476, + -400.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 84.00371065895331, + -402.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 86.60178687030663, + -403.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 89.19986308165994, + -405.11858125033416, + 0.39850367351458615 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 89.19986308165994, + -405.11858125033416, + 0.39850367351458615 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 89.19986308165994, + -405.11858125033416, + 0.39850367351458615 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 89.19986308165994, + -405.11858125033416, + 0.39850367351458615 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 89.19986308165994, + -405.11858125033416, + 0.39850367351458615 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 89.19986308165994, + -405.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 86.60178687030663, + -406.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 84.00371065895331, + -408.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 81.4056344476, + -409.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 78.80755823624668, + -411.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 76.20948202489336, + -412.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 73.61140581354005, + -414.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 71.01332960218673, + -415.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 68.41525339083341, + -417.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 65.8171771794801, + -418.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 63.21910096812678, + -420.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 60.621024756773465, + -421.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 58.02294854542015, + -423.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 55.42487233406683, + -424.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 52.82679612271352, + -426.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 50.2287199113602, + -427.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 47.630643700006885, + -429.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 45.03256748865357, + -430.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 42.43449127730025, + -432.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 39.83641506594694, + -433.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 37.23833885459362, + -435.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 34.640262643240305, + -436.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 32.04218643188699, + -438.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 29.444110220533673, + -439.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 26.846034009180357, + -441.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 24.24795779782704, + -442.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 21.649881586473725, + -444.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 19.05180537512041, + -445.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 16.453729163767093, + -447.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 13.855652952413777, + -448.61858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 11.257576741060461, + -450.11858125033416, + 0.39850367351458615 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 11.257576741060461, + -450.11858125033416, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 9.757576741060461, + -452.7166574616875, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 8.257576741060461, + -455.3147336730408, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 6.757576741060462, + -457.9128098843941, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 5.257576741060463, + -460.5108860957474, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 3.757576741060464, + -463.10896230710074, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 2.257576741060465, + -465.70703851845406, + 0.39850367351458615 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 2.257576741060465, + -465.70703851845406, + 0.39850367351458615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + -0.3404994702928512, + -467.20703851845406, + 0.39850367351458615 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-13-7_1550101877/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-13-7_1550101877/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c294bdaacc3e241df55c7ac98294e35a3fba7c1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-13-7_1550101877/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1344.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1347.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1350.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1353.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1356.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1359.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1362.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1365.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1368.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1371.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1374.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1377.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1380.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1383.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1386.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1389.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1392.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1395.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1398.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1401.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1404.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1407.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1410.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1410.77806501272, + 64.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1413.3761412240733, + 65.71115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1415.9742174354267, + 67.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1418.57229364678, + 68.71115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1421.1703698581334, + 70.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1423.7684460694868, + 71.71115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1426.3665222808402, + 73.21115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1428.9645984921935, + 74.71115745841946, + 3.8631394645478405 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1428.9645984921935, + 74.71115745841946, + 3.8631394645478405 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1428.9645984921935, + 74.71115745841946, + 3.8631394645478405 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1428.9645984921935, + 74.71115745841946, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1430.4645984921935, + 72.11308124706615, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1431.9645984921935, + 69.51500503571283, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1433.4645984921935, + 66.91692882435952, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1434.9645984921935, + 64.3188526130062, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1436.4645984921935, + 61.720776401652884, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1437.9645984921935, + 59.12270019029957, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1439.4645984921935, + 56.52462397894625, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1440.9645984921935, + 53.926547767592936, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1442.4645984921935, + 51.32847155623962, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1443.9645984921935, + 48.730395344886304, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1445.4645984921935, + 46.13231913353299, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1446.9645984921935, + 43.53424292217967, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1448.4645984921935, + 40.936166710826356, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1449.9645984921935, + 38.33809049947304, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.4645984921935, + 35.740014288119724, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1452.9645984921935, + 33.14193807676641, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1454.4645984921935, + 30.543861865413092, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1455.9645984921935, + 27.945785654059776, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1457.4645984921935, + 25.34770944270646, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1458.9645984921935, + 22.749633231353144, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1460.4645984921935, + 20.151557019999828, + 3.8631394645478405 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1460.4645984921935, + 20.151557019999828, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1463.062674703547, + 18.651557019999828, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1465.6607509149003, + 17.151557019999828, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1468.2588271262537, + 15.651557019999828, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1470.856903337607, + 14.151557019999828, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1473.4549795489604, + 12.651557019999828, + 3.8631394645478405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1476.0530557603138, + 11.151557019999828, + 3.8631394645478405 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-14-17_1872666833/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-14-17_1872666833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..446fea3fa5e6246622c27ce6cdcf2fc2f944e7fb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-14-17_1872666833/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1325.0947690021542, + 311.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1325.0947690021542, + 308.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1325.0947690021542, + 305.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1325.0947690021542, + 302.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1325.0947690021542, + 299.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1325.0947690021542, + 296.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1325.0947690021542, + 293.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1325.0947690021542, + 290.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1325.0947690021542, + 287.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1325.0947690021542, + 284.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1325.0947690021542, + 281.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1325.0947690021542, + 278.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1325.0947690021542, + 275.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1325.0947690021542, + 272.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1325.0947690021542, + 269.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1325.0947690021542, + 266.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1325.0947690021542, + 263.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1325.0947690021542, + 260.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1325.0947690021542, + 257.969487612952, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1325.0947690021542, + 254.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1325.0947690021542, + 251.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1325.0947690021542, + 248.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1325.0947690021542, + 245.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1325.0947690021542, + 242.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1325.0947690021542, + 239.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1325.0947690021542, + 236.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1325.0947690021542, + 233.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1325.0947690021542, + 230.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1325.0947690021542, + 227.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1325.0947690021542, + 224.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1325.0947690021542, + 221.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1325.0947690021542, + 218.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1325.0947690021542, + 215.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1325.0947690021542, + 212.96948761295198, + 4.10827039134981 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1325.0947690021542, + 212.96948761295198, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1323.5947690021542, + 210.37141140159866, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1322.0947690021542, + 207.77333519024535, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1320.5947690021542, + 205.17525897889203, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1319.0947690021542, + 202.57718276753872, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1317.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1317.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1317.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1317.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1317.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1317.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1320.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1323.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1326.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1329.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1329.5947690021542, + 199.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1332.1928452135076, + 198.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1334.790921424861, + 196.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1337.3889976362143, + 195.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1339.9870738475677, + 193.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1342.585150058921, + 192.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1345.1832262702744, + 190.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1347.7813024816278, + 189.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1350.3793786929812, + 187.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1352.9774549043345, + 186.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1355.575531115688, + 184.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1358.1736073270413, + 183.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1360.7716835383947, + 181.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1363.369759749748, + 180.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1365.9678359611014, + 178.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1368.5659121724548, + 177.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1371.1639883838081, + 175.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1373.7620645951615, + 174.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1376.360140806515, + 172.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1378.9582170178683, + 171.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1381.5562932292216, + 169.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1384.154369440575, + 168.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1386.7524456519284, + 166.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1389.3505218632818, + 165.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1391.9485980746351, + 163.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1394.5466742859885, + 162.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1397.1447504973419, + 160.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1399.7428267086952, + 159.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1402.3409029200486, + 157.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1404.938979131402, + 156.4791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1407.5370553427554, + 154.9791065561854, + 4.10827039134981 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1410.1351315541087, + 153.4791065561854, + 4.10827039134981 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-18-21_929588156/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-18-21_929588156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a734d69c1e5e312ccf476ca5c87a9864e3534c9f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-18-21_929588156/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 177.77178258932977, + -130.03514843441727, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 179.27178258932977, + -132.63322464577058, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 180.77178258932977, + -135.2313008571239, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 182.27178258932977, + -137.8293770684772, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 183.77178258932977, + -140.42745327983053, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 185.27178258932977, + -143.02552949118385, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 186.77178258932977, + -145.62360570253716, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 188.27178258932977, + -148.22168191389048, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 189.77178258932977, + -150.8197581252438, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 191.27178258932977, + -153.4178343365971, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 192.77178258932977, + -156.01591054795043, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 194.27178258932977, + -158.61398675930374, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 195.77178258932977, + -161.21206297065706, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 197.27178258932977, + -163.81013918201037, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 198.77178258932977, + -166.4082153933637, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 200.27178258932977, + -169.006291604717, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 201.77178258932977, + -171.60436781607032, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 203.27178258932977, + -174.20244402742364, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 204.77178258932977, + -176.80052023877695, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 206.27178258932977, + -179.39859645013027, + 2.785900401983435 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 206.27178258932977, + -179.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 208.8698588006831, + -180.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 211.4679350120364, + -182.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 214.06601122338972, + -183.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 216.66408743474304, + -185.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 219.26216364609635, + -186.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 221.86023985744967, + -188.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 224.458316068803, + -189.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 227.0563922801563, + -191.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 229.65446849150962, + -192.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 232.25254470286293, + -194.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 234.85062091421625, + -195.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 237.44869712556957, + -197.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 240.04677333692288, + -198.89859645013027, + 2.785900401983435 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 240.04677333692288, + -198.89859645013027, + 2.785900401983435 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 240.04677333692288, + -198.89859645013027, + 2.785900401983435 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 240.04677333692288, + -198.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 242.6448495482762, + -197.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 245.24292575962951, + -195.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 247.84100197098283, + -194.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 250.43907818233615, + -192.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 253.03715439368946, + -191.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 255.63523060504278, + -189.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 258.23330681639607, + -188.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983036 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 260.8313830277494, + -186.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 263.4294592391027, + -185.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 266.027535450456, + -183.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 268.62561166180933, + -182.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 271.22368787316265, + -180.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 273.82176408451596, + -179.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 276.4198402958693, + -177.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 279.0179165072226, + -176.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 281.6159927185759, + -174.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 284.2140689299292, + -173.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 286.81214514128254, + -171.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 289.41022135263586, + -170.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 292.0082975639892, + -168.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 294.6063737753425, + -167.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 297.2044499866958, + -165.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 299.8025261980491, + -164.39859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 302.40060240940244, + -162.89859645013027, + 2.785900401983435 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 302.40060240940244, + -162.89859645013027, + 2.785900401983435 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 302.40060240940244, + -162.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 302.40060240940244, + -159.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 302.40060240940244, + -156.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 302.40060240940244, + -153.89859645013027, + 2.785900401983435 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 302.40060240940244, + -150.89859645013027, + 2.785900401983435 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-19-31_2138982933/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-19-31_2138982933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab5c64f5f3f1d40d6a3eecaa110e0ecb57c3214f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-19-31_2138982933/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 533.3429069606389, + -563.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 530.7448307492855, + -562.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 528.1467545379321, + -560.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 525.5486783265787, + -559.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 522.9506021152254, + -557.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 520.352525903872, + -556.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 517.7544496925186, + -554.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 515.1563734811652, + -553.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 512.5582972698119, + -551.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 509.96022105845856, + -550.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 507.36214484710524, + -548.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 504.7640686357519, + -547.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 502.1659924243986, + -545.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 499.5679162130453, + -544.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 496.969840001692, + -542.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 494.37176379033866, + -541.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 491.77368757898535, + -539.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 489.17561136763203, + -538.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 486.5775351562787, + -536.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 483.9794589449254, + -535.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 481.3813827335721, + -533.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 478.78330652221877, + -532.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 476.18523031086545, + -530.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 473.58715409951213, + -529.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 470.9890778881588, + -527.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 468.3910016768055, + -526.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 465.7929254654522, + -524.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 463.19484925409887, + -523.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 460.59677304274555, + -521.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 457.99869683139224, + -520.062244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 455.4006206200389, + -518.562244991894, + -0.648797529039836 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 455.4006206200389, + -518.562244991894, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 453.9006206200389, + -515.9641687805406, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 452.4006206200389, + -513.3660925691872, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 450.9006206200389, + -510.7680163578339, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 449.4006206200389, + -508.1699401464806, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 447.9006206200389, + -505.5718639351273, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 446.4006206200389, + -502.97378772377397, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 444.9006206200389, + -500.37571151242065, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 443.4006206200389, + -497.77763530106733, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 441.9006206200389, + -495.179559089714, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 440.4006206200389, + -492.5814828783607, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 438.9006206200389, + -489.9834066670074, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 437.4006206200389, + -487.38533045565407, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 435.9006206200389, + -484.78725424430075, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 434.4006206200389, + -482.18917803294744, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 432.9006206200389, + -479.5911018215941, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 431.4006206200389, + -476.9930256102408, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 429.9006206200389, + -474.3949493988875, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 428.4006206200389, + -471.7968731875342, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 426.9006206200389, + -469.19879697618086, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 425.4006206200389, + -466.60072076482754, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 423.9006206200389, + -464.0026445534742, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 422.4006206200389, + -461.4045683421209, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 420.9006206200389, + -458.8064921307676, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 419.4006206200389, + -456.2084159194143, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 417.9006206200389, + -453.61033970806096, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 416.4006206200389, + -451.01226349670765, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 414.9006206200389, + -448.41418728535433, + -0.648797529039836 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 414.9006206200389, + -448.41418728535433, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 414.9006206200389, + -445.41418728535433, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 414.9006206200389, + -442.41418728535433, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 414.9006206200389, + -439.41418728535433, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 414.9006206200389, + -436.41418728535433, + -0.648797529039836 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 414.9006206200389, + -433.41418728535433, + -0.648797529039836 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-2-43_1968922326/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-2-43_1968922326/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01f600342fb6871beea3a3bae41383b877b1097d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-2-43_1968922326/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 797.7989284743235, + -304.41537923352223, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 799.2989284743235, + -307.01345544487555, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 800.7989284743235, + -309.61153165622886, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 802.2989284743235, + -312.2096078675822, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 803.7989284743235, + -314.8076840789355, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 805.2989284743235, + -317.4057602902888, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 806.7989284743235, + -320.0038365016421, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 808.2989284743235, + -322.60191271299544, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 809.7989284743235, + -325.19998892434876, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 811.2989284743235, + -327.7980651357021, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 812.7989284743235, + -330.3961413470554, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 814.2989284743235, + -332.9942175584087, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 815.7989284743235, + -335.592293769762, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 817.2989284743235, + -338.19036998111534, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 818.7989284743235, + -340.78844619246865, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 820.2989284743235, + -343.38652240382197, + -1.0690198912728173 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 820.2989284743235, + -343.38652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 822.8970046856768, + -344.88652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 825.4950808970302, + -346.38652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 828.0931571083836, + -347.88652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 830.691233319737, + -349.38652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 833.2893095310903, + -350.88652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 835.8873857424437, + -352.38652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 838.4854619537971, + -353.88652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 841.0835381651505, + -355.38652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 843.6816143765038, + -356.88652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 846.2796905878572, + -358.38652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 848.8777667992106, + -359.88652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 851.475843010564, + -361.38652240382197, + -1.0690198912728173 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 851.475843010564, + -361.38652240382197, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 852.975843010564, + -363.9845986151753, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 854.475843010564, + -366.5826748265286, + -1.0690198912728173 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 854.475843010564, + -366.5826748265286, + -1.0690198912728173 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 854.475843010564, + -366.5826748265286, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 852.975843010564, + -369.1807510378819, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 851.475843010564, + -371.77882724923523, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 849.975843010564, + -374.37690346058855, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 848.475843010564, + -376.97497967194187, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 846.975843010564, + -379.5730558832952, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 845.475843010564, + -382.1711320946485, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 843.975843010564, + -384.7692083060018, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 842.475843010564, + -387.36728451735513, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 840.975843010564, + -389.96536072870845, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 839.475843010564, + -392.56343694006176, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 837.975843010564, + -395.1615131514151, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 836.475843010564, + -397.7595893627684, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 834.975843010564, + -400.3576655741217, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 833.475843010564, + -402.955741785475, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 831.975843010564, + -405.55381799682834, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 830.475843010564, + -408.15189420818166, + -1.0690198912728173 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 830.475843010564, + -408.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 827.8777667992106, + -409.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 825.2796905878572, + -411.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 822.6816143765038, + -412.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 820.0835381651505, + -414.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 817.4854619537971, + -415.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 814.8873857424437, + -417.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 812.2893095310903, + -418.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 809.691233319737, + -420.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 807.0931571083836, + -421.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 804.4950808970302, + -423.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 801.8970046856768, + -424.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 799.2989284743235, + -426.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 796.7008522629701, + -427.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 794.1027760516167, + -429.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 791.5046998402634, + -430.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 788.90662362891, + -432.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 786.3085474175566, + -433.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 783.7104712062032, + -435.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 781.1123949948499, + -436.65189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 778.5143187834965, + -438.15189420818166, + -1.0690198912728173 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 778.5143187834965, + -438.15189420818166, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 777.0143187834965, + -440.749970419535, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 775.5143187834965, + -443.3480466308883, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 774.0143187834965, + -445.9461228422416, + -1.0690198912728173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 772.5143187834965, + -448.5441990535949, + -1.0690198912728173 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-20-37_1987323286/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-20-37_1987323286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e56b37f5aeca32cd7b53974260eef23033dd563b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-20-37_1987323286/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 383.77064423994415, + 107.55555847829375, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.27064423994415, + 110.15363468964706, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 386.77064423994415, + 112.75171090100038, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.27064423994415, + 115.3497871123537, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.77064423994415, + 117.94786332370701, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 391.27064423994415, + 120.54593953506033, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 392.77064423994415, + 123.14401574641364, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 394.27064423994415, + 125.74209195776696, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 395.77064423994415, + 128.34016816912026, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 397.27064423994415, + 130.93824438047358, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 398.77064423994415, + 133.5363205918269, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 400.27064423994415, + 136.1343968031802, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 401.77064423994415, + 138.73247301453353, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 403.27064423994415, + 141.33054922588684, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 404.77064423994415, + 143.92862543724016, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 406.27064423994415, + 146.52670164859347, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 407.77064423994415, + 149.1247778599468, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 409.27064423994415, + 151.7228540713001, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 410.77064423994415, + 154.32093028265342, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 412.27064423994415, + 156.91900649400674, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 413.77064423994415, + 159.51708270536005, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 415.27064423994415, + 162.11515891671337, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 416.77064423994415, + 164.71323512806669, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 418.27064423994415, + 167.31131133942, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 419.77064423994415, + 169.90938755077332, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 421.27064423994415, + 172.50746376212663, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 422.77064423994415, + 175.10553997347995, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 424.27064423994415, + 177.70361618483327, + 3.046410734686054 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 424.27064423994415, + 177.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 424.27064423994415, + 180.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 424.27064423994415, + 183.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 424.27064423994415, + 186.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 424.27064423994415, + 189.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 424.27064423994415, + 192.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 424.27064423994415, + 195.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 424.27064423994415, + 198.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 424.27064423994415, + 201.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 424.27064423994415, + 204.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 424.27064423994415, + 207.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 424.27064423994415, + 210.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 424.27064423994415, + 213.70361618483327, + 3.046410734686054 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 424.27064423994415, + 213.70361618483327, + 3.046410734686054 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 424.27064423994415, + 213.70361618483327, + 3.046410734686054 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 424.27064423994415, + 213.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 421.67256802859083, + 215.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 419.0744918172375, + 216.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 416.4764156058842, + 218.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 413.8783393945309, + 219.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 411.28026318317757, + 221.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 408.68218697182425, + 222.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 406.08411076047094, + 224.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 403.4860345491176, + 225.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 400.8879583377643, + 227.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 398.289882126411, + 228.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 395.69180591505767, + 230.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 393.09372970370435, + 231.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 390.49565349235104, + 233.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 387.8975772809977, + 234.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 385.2995010696444, + 236.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 382.7014248582911, + 237.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 380.1033486469378, + 239.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 377.50527243558446, + 240.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 374.90719622423114, + 242.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 372.3091200128778, + 243.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 369.7110438015245, + 245.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 367.1129675901712, + 246.70361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 364.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 364.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 361.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 358.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 355.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 352.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 349.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 346.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 343.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 340.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 337.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 334.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 331.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 328.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 325.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 322.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 319.5148913788179, + 248.20361618483327, + 3.046410734686054 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-24-53_14933990/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-24-53_14933990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87bcd3d5c584be3ab546ee7469eeef6522f8c5f8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-24-53_14933990/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1366.454684779882, + -138.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1369.0527609912353, + -140.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1371.6508372025887, + -141.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1374.248913413942, + -143.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1376.8469896252955, + -144.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1379.4450658366488, + -146.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1382.0431420480022, + -147.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1384.6412182593556, + -149.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1387.239294470709, + -150.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1389.8373706820623, + -152.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1392.4354468934157, + -153.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1395.033523104769, + -155.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1397.6315993161224, + -156.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1400.2296755274758, + -158.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1402.8277517388292, + -159.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1405.4258279501826, + -161.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1408.023904161536, + -162.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1410.6219803728893, + -164.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1413.2200565842427, + -165.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1415.818132795596, + -167.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1418.4162090069494, + -168.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1421.0142852183028, + -170.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1423.6123614296562, + -171.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1426.2104376410095, + -173.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1428.808513852363, + -174.79742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1431.4065900637163, + -176.29742980006148, + 0.1507124245639515 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1431.4065900637163, + -176.29742980006148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1432.9065900637163, + -178.8955060114148, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1434.4065900637163, + -181.4935822227681, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1435.9065900637163, + -184.09165843412143, + 0.1507124245639515 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1435.9065900637163, + -184.09165843412143, + 0.1507124245639515 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1435.9065900637163, + -184.09165843412143, + 0.1507124245639515 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1435.9065900637163, + -184.09165843412143, + 0.1507124245639515 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1435.9065900637163, + -184.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1433.308513852363, + -185.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1430.7104376410095, + -187.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1428.1123614296562, + -188.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1425.5142852183028, + -190.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1422.9162090069494, + -191.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1420.318132795596, + -193.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1417.7200565842427, + -194.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1415.1219803728893, + -196.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1412.523904161536, + -197.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1409.9258279501826, + -199.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1407.3277517388292, + -200.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1404.7296755274758, + -202.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1402.1315993161224, + -203.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1399.533523104769, + -205.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1396.9354468934157, + -206.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1394.3373706820623, + -208.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1391.739294470709, + -209.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1389.1412182593556, + -211.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1386.5431420480022, + -212.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1383.9450658366488, + -214.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1381.3469896252955, + -215.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1378.748913413942, + -217.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1376.1508372025887, + -218.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1373.5527609912353, + -220.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1370.954684779882, + -221.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1368.3566085685286, + -223.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1365.7585323571752, + -224.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1363.1604561458219, + -226.09165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1360.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1360.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1357.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1354.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1351.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1348.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1345.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1342.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1339.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1336.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1333.5623799344685, + -227.59165843412143, + 0.1507124245639515 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-28-17_1372668364/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-28-17_1372668364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..499e63f514e991d89f80d78a4364901b40ad4a7e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-28-17_1372668364/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1360.5675088639905, + -43.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1363.5675088639905, + -43.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1366.5675088639905, + -43.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1369.5675088639905, + -43.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1372.5675088639905, + -43.62602340909722, + 3.188697186674627 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1372.5675088639905, + -43.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1375.1655850753439, + -42.12602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1377.7636612866972, + -40.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1380.3617374980506, + -39.12602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1382.959813709404, + -37.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1385.5578899207574, + -36.12602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1388.1559661321107, + -34.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1390.754042343464, + -33.12602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1393.3521185548175, + -31.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1395.9501947661709, + -30.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1398.5482709775242, + -28.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1401.1463471888776, + -27.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1403.744423400231, + -25.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1406.3424996115843, + -24.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1408.9405758229377, + -22.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.538652034291, + -21.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1414.1367282456445, + -19.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1416.7348044569978, + -18.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1419.3328806683512, + -16.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1421.9309568797046, + -15.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1424.529033091058, + -13.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1427.1271093024113, + -12.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1429.7251855137647, + -10.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1432.323261725118, + -9.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1434.9213379364714, + -7.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1437.5194141478248, + -6.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1440.1174903591782, + -4.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1442.7155665705316, + -3.126023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1445.313642781885, + -1.626023409097222, + 3.188697186674627 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1445.313642781885, + -1.626023409097222, + 3.188697186674627 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1445.313642781885, + -1.626023409097222, + 3.188697186674627 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1445.313642781885, + -1.626023409097222, + 3.188697186674627 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1445.313642781885, + -1.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1445.313642781885, + -4.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1445.313642781885, + -7.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1445.313642781885, + -10.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1445.313642781885, + -13.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1445.313642781885, + -16.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1445.313642781885, + -19.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1445.313642781885, + -22.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1445.313642781885, + -25.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1445.313642781885, + -28.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1445.313642781885, + -31.626023409097222, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1445.313642781885, + -34.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1445.313642781885, + -37.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1445.313642781885, + -40.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1445.313642781885, + -43.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1445.313642781885, + -46.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1445.313642781885, + -49.62602340909722, + 3.188697186674627 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1445.313642781885, + -49.62602340909722, + 3.188697186674627 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1445.313642781885, + -49.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1442.7155665705316, + -51.12602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1440.1174903591782, + -52.62602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1437.5194141478248, + -54.12602340909722, + 3.188697186674627 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1437.5194141478248, + -54.12602340909722, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1436.0194141478248, + -56.72409962045054, + 3.188697186674627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1434.5194141478248, + -59.322175831803854, + 3.188697186674627 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-29-21_1987235624/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-29-21_1987235624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e78246ea4f5be7ee201fad57562cfca507f1f821 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-29-21_1987235624/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 746.2857005209651, + 80.15031921409489, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 747.7857005209651, + 77.55224300274158, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 749.2857005209651, + 74.95416679138826, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 750.7857005209651, + 72.35609058003494, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 752.2857005209651, + 69.75801436868163, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 753.7857005209651, + 67.15993815732831, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 755.2857005209651, + 64.561861945975, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 756.7857005209651, + 61.96378573462168, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 758.2857005209651, + 59.365709523268364, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 759.7857005209651, + 56.76763331191505, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 761.2857005209651, + 54.16955710056173, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 762.7857005209651, + 51.571480889208416, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 764.2857005209651, + 48.9734046778551, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 765.7857005209651, + 46.375328466501784, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 767.2857005209651, + 43.77725225514847, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 768.7857005209651, + 41.17917604379515, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 770.2857005209651, + 38.581099832441836, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 771.7857005209651, + 35.98302362108852, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 773.2857005209651, + 33.384947409735204, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 774.7857005209651, + 30.78687119838189, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 776.2857005209651, + 28.188794987028572, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 777.7857005209651, + 25.590718775675256, + -2.948157797743155 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 777.7857005209651, + 25.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 777.7857005209651, + 22.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 777.7857005209651, + 19.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 777.7857005209651, + 16.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 777.7857005209651, + 13.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 777.7857005209651, + 10.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 777.7857005209651, + 7.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 777.7857005209651, + 4.590718775675256, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 777.7857005209651, + 1.5907187756752563, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 777.7857005209651, + -1.4092812243247437, + -2.948157797743155 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 777.7857005209651, + -1.4092812243247437, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 779.2857005209651, + -4.00735743567806, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 780.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 780.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 780.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 780.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 777.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 774.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 771.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 768.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 765.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 762.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 759.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 756.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 753.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 750.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 747.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 744.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 741.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 738.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 735.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 732.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 729.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 726.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 723.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 720.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 717.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 714.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 711.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 708.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 705.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 702.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 699.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 696.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 693.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 690.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 687.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 684.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 681.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 678.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 675.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 672.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 672.7857005209651, + -6.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 670.1876243096117, + -8.105433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 667.5895480982583, + -9.605433647031376, + -2.948157797743155 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 664.991471886905, + -11.105433647031376, + -2.948157797743155 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-31-13_592456289/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-31-13_592456289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..322a833d715e5688c1483b82502615022996245d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-31-13_592456289/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 501.0704802820903, + 160.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 498.47240407073696, + 161.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 495.87432785938364, + 163.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 493.2762516480303, + 164.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 490.678175436677, + 166.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 488.0800992253237, + 167.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 485.4820230139704, + 169.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 482.88394680261706, + 170.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.28587059126374, + 172.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 477.68779437991043, + 173.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 475.0897181685571, + 175.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 472.4916419572038, + 176.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 469.8935657458505, + 178.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 467.29548953449716, + 179.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 464.69741332314385, + 181.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 462.09933711179053, + 182.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 459.5012609004372, + 184.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 456.9031846890839, + 185.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 454.3051084777306, + 187.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 451.70703226637727, + 188.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 449.10895605502395, + 190.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 446.51087984367064, + 191.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 443.9128036323173, + 193.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 441.314727420964, + 194.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.7166512096107, + 196.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.1185749982574, + 197.95990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 433.52049878690406, + 199.45990217530385, + 2.9967195891263145 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 433.52049878690406, + 199.45990217530385, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 432.02049878690406, + 202.05797838665717, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 430.52049878690406, + 204.65605459801048, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 429.02049878690406, + 207.2541308093638, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 427.52049878690406, + 209.85220702071712, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 426.02049878690406, + 212.45028323207043, + 2.9967195891263145 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 426.02049878690406, + 212.45028323207043, + 2.9967195891263145 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 426.02049878690406, + 212.45028323207043, + 2.9967195891263145 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 426.02049878690406, + 212.45028323207043, + 2.9967195891263145 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 426.02049878690406, + 212.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 428.6185749982574, + 213.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 431.2166512096107, + 215.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 433.814727420964, + 216.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 436.4128036323173, + 218.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 439.01087984367064, + 219.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 441.60895605502395, + 221.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 444.20703226637727, + 222.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 446.8051084777306, + 224.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 449.4031846890839, + 225.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 452.0012609004372, + 227.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 454.59933711179053, + 228.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 457.19741332314385, + 230.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 459.79548953449716, + 231.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 462.3935657458505, + 233.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 464.9916419572038, + 234.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 467.5897181685571, + 236.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 470.18779437991043, + 237.95028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 472.78587059126374, + 239.45028323207043, + 2.9967195891263145 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 472.78587059126374, + 239.45028323207043, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 474.28587059126374, + 242.04835944342375, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 475.78587059126374, + 244.64643565477706, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 477.28587059126374, + 247.24451186613038, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 478.78587059126374, + 249.8425880774837, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 480.28587059126374, + 252.440664288837, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 481.78587059126374, + 255.03874050019033, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 483.28587059126374, + 257.63681671154364, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 484.78587059126374, + 260.23489292289696, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 486.28587059126374, + 262.8329691342503, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 487.78587059126374, + 265.4310453456036, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 489.28587059126374, + 268.0291215569569, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 490.78587059126374, + 270.6271977683102, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 492.28587059126374, + 273.22527397966354, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 493.78587059126374, + 275.82335019101686, + 2.9967195891263145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 495.28587059126374, + 278.4214264023702, + 2.9967195891263145 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-32-21_333293469/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-32-21_333293469/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eb65bd62391617ee4eb4940ca7747448d6481b1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-32-21_333293469/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1490.204647828271, + -136.69893651772932, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1491.704647828271, + -134.100860306376, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1493.204647828271, + -131.5027840950227, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1494.704647828271, + -128.90470788366937, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1496.204647828271, + -126.30663167231606, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1497.704647828271, + -123.70855546096274, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1499.204647828271, + -121.11047924960943, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1500.704647828271, + -118.51240303825611, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1502.204647828271, + -115.9143268269028, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1503.704647828271, + -113.31625061554948, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1505.204647828271, + -110.71817440419616, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1506.704647828271, + -108.12009819284285, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1508.204647828271, + -105.52202198148953, + -2.4193382247297075 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1508.204647828271, + -105.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1508.204647828271, + -102.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1508.204647828271, + -99.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1508.204647828271, + -96.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1508.204647828271, + -93.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1508.204647828271, + -90.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1508.204647828271, + -87.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1508.204647828271, + -84.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1508.204647828271, + -81.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1508.204647828271, + -78.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1508.204647828271, + -75.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1508.204647828271, + -72.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1508.204647828271, + -69.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1508.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1508.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1508.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1508.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1508.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1511.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1514.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1517.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1520.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1523.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1526.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1529.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1532.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1535.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1538.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1541.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1544.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1544.204647828271, + -66.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1546.8027240396243, + -68.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1549.4008002509777, + -69.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1551.998876462331, + -71.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1554.5969526736844, + -72.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1557.1950288850378, + -74.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1559.7931050963912, + -75.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1562.3911813077445, + -77.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1564.989257519098, + -78.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1567.5873337304513, + -80.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1570.1854099418047, + -81.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1572.783486153158, + -83.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1575.3815623645114, + -84.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1577.9796385758648, + -86.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1580.5777147872182, + -87.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1583.1757909985715, + -89.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1585.773867209925, + -90.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1588.3719434212783, + -92.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1590.9700196326316, + -93.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1593.568095843985, + -95.02202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1596.1661720553384, + -96.52202198148953, + -2.4193382247297075 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1598.7642482666918, + -98.02202198148953, + -2.4193382247297075 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-32-51_1779451238/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-32-51_1779451238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e21b16aba162a7ea67716b6e096a2c074fecc60e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-32-51_1779451238/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 351.94548479230076, + -176.8287735651901, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 353.44548479230076, + -179.4268497765434, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 354.94548479230076, + -182.02492598789672, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 356.44548479230076, + -184.62300219925004, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 357.94548479230076, + -187.22107841060335, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 359.44548479230076, + -189.81915462195667, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 360.94548479230076, + -192.41723083331, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 362.44548479230076, + -195.0153070446633, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.94548479230076, + -197.61338325601662, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 365.44548479230076, + -200.21145946736993, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 366.94548479230076, + -202.80953567872325, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 368.44548479230076, + -205.40761189007657, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 369.94548479230076, + -208.00568810142988, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 371.44548479230076, + -210.6037643127832, + 2.356629224503739 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.44548479230076, + -210.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 374.0435610036541, + -212.1037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 376.6416372150074, + -213.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 379.2397134263607, + -215.1037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 381.837789637714, + -216.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 384.43586584906734, + -218.1037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 387.03394206042066, + -219.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 389.632018271774, + -221.1037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 392.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 392.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 392.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 395.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 398.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 401.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 404.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 407.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 410.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 413.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 416.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 419.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 422.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 425.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 428.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 431.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 434.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 437.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 440.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 443.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 446.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 449.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 452.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 455.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 455.2300944831273, + -222.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 457.8281706944806, + -224.1037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 460.4262469058339, + -225.6037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 463.02432311718724, + -227.1037643127832, + 2.356629224503739 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 465.62239932854055, + -228.6037643127832, + 2.356629224503739 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-33-20_478841551/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-33-20_478841551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fab3e9814578e2bee385908ca75d89d019795161 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-33-20_478841551/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -49.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -52.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -55.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -58.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -61.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -64.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -67.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -70.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -73.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -82.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -88.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -91.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -94.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -97.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -100.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -103.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -106.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -109.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -112.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -115.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -118.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -121.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -124.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -127.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -127.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -127.51234777437567, + -114.71669314575755, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -129.01234777437566, + -117.31476935711086, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931913 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -130.51234777437566, + -119.91284556846418, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -132.01234777437566, + -122.5109217798175, + 2.8316308060340756 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -132.01234777437566, + -122.5109217798175, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -134.61042398572897, + -124.0109217798175, + 2.8316308060340756 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -134.61042398572897, + -124.0109217798175, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -136.11042398572897, + -126.60899799117081, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -137.61042398572897, + -129.20707420252413, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -139.11042398572897, + -131.80515041387744, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -140.61042398572897, + -134.40322662523076, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -142.11042398572897, + -137.00130283658407, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -143.61042398572897, + -139.5993790479374, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -145.11042398572897, + -142.1974552592907, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -146.61042398572897, + -144.79553147064402, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -148.11042398572897, + -147.39360768199734, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -149.61042398572897, + -149.99168389335065, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -151.11042398572897, + -152.58976010470397, + 2.8316308060340756 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -151.11042398572897, + -152.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -151.11042398572897, + -155.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -151.11042398572897, + -158.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -151.11042398572897, + -161.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -151.11042398572897, + -164.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -151.11042398572897, + -167.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -151.11042398572897, + -170.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -151.11042398572897, + -173.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -151.11042398572897, + -176.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -151.11042398572897, + -179.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -151.11042398572897, + -182.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -151.11042398572897, + -185.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -151.11042398572897, + -188.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -151.11042398572897, + -191.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -151.11042398572897, + -194.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -151.11042398572897, + -197.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -151.11042398572897, + -200.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -151.11042398572897, + -203.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -151.11042398572897, + -206.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -151.11042398572897, + -209.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -151.11042398572897, + -212.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -151.11042398572897, + -215.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -151.11042398572897, + -218.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -151.11042398572897, + -221.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -151.11042398572897, + -224.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -151.11042398572897, + -227.58976010470397, + 2.8316308060340756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -151.11042398572897, + -230.58976010470397, + 2.8316308060340756 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-35-28_1172063133/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-35-28_1172063133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6034ec0c1aa8dff86f7d0e031838e794bf83f9ce --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-35-28_1172063133/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -231.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -228.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -225.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -222.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -219.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -216.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -213.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -210.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -207.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -204.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -201.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -198.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -195.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -192.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -189.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -186.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -183.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -180.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -177.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -174.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -171.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -168.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -165.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -165.7065503879665, + -414.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -163.10847417661319, + -413.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -160.51039796525987, + -411.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -157.91232175390655, + -410.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -155.31424554255324, + -408.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -152.71616933119992, + -407.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -150.1180931198466, + -405.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -147.5200169084933, + -404.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -144.92194069713997, + -402.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -142.32386448578666, + -401.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -139.72578827443334, + -399.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -137.12771206308003, + -398.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -134.5296358517267, + -396.6779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -131.9315596403734, + -395.1779285012678, + -0.3503068468927868 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -131.9315596403734, + -395.1779285012678, + -0.3503068468927868 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -131.9315596403734, + -395.1779285012678, + -0.3503068468927868 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -131.9315596403734, + -395.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.9315596403734, + -392.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -131.9315596403734, + -389.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -131.9315596403734, + -386.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -131.9315596403734, + -383.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -131.9315596403734, + -380.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -131.9315596403734, + -377.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -131.9315596403734, + -374.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -131.9315596403734, + -371.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -131.9315596403734, + -368.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -131.9315596403734, + -365.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -131.9315596403734, + -362.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -131.9315596403734, + -359.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -131.9315596403734, + -356.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -131.9315596403734, + -353.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -131.9315596403734, + -350.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -131.9315596403734, + -347.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -131.9315596403734, + -344.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -131.9315596403734, + -341.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -131.9315596403734, + -338.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -131.9315596403734, + -335.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -131.9315596403734, + -332.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -131.9315596403734, + -329.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -131.9315596403734, + -326.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -131.9315596403734, + -323.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -131.9315596403734, + -320.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -131.9315596403734, + -317.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -131.9315596403734, + -314.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -131.9315596403734, + -311.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -131.9315596403734, + -308.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -131.9315596403734, + -305.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -131.9315596403734, + -302.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -131.9315596403734, + -299.1779285012678, + -0.3503068468927868 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -131.9315596403734, + -299.1779285012678, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -130.4315596403734, + -296.57985228991447, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -128.9315596403734, + -293.98177607856115, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -127.4315596403734, + -291.38369986720784, + -0.3503068468927868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -125.9315596403734, + -288.7856236558545, + -0.3503068468927868 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-37-56_830365981/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-37-56_830365981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..511ecfa4e1ad7bed5bd84f9415108466106bc0d3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-37-56_830365981/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 346.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 349.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 352.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 355.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 358.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 361.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 364.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 367.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 370.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 373.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 376.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 379.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 382.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 385.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 388.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 391.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 394.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 397.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 400.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 403.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 406.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 409.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 412.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 415.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 418.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 421.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 421.56986131350055, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 424.16793752485387, + -306.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 426.7660137362072, + -304.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 429.3640899475605, + -303.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 431.9621661589138, + -301.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 434.56024237026713, + -300.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 437.15831858162045, + -298.99074466793576, + -3.105783825731549 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 437.15831858162045, + -298.99074466793576, + -3.105783825731549 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 437.15831858162045, + -298.99074466793576, + -3.105783825731549 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 437.15831858162045, + -298.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 439.75639479297377, + -300.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 442.3544710043271, + -301.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 444.9525472156804, + -303.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 447.5506234270337, + -304.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 450.14869963838703, + -306.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 452.74677584974035, + -307.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 455.34485206109366, + -309.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 457.942928272447, + -310.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 460.5410044838003, + -312.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 463.1390806951536, + -313.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 465.7371569065069, + -315.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 468.33523311786024, + -316.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 470.93330932921356, + -318.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 473.5313855405669, + -319.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 476.1294617519202, + -321.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 478.7275379632735, + -322.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 481.3256141746268, + -324.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 483.92369038598014, + -325.99074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 486.52176659733345, + -327.49074466793576, + -3.105783825731549 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 486.52176659733345, + -327.49074466793576, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 488.02176659733345, + -330.0888208792891, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 489.52176659733345, + -332.6868970906424, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 491.02176659733345, + -335.2849733019957, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 492.52176659733345, + -337.883049513349, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 494.02176659733345, + -340.48112572470234, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 495.52176659733345, + -343.07920193605565, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 497.02176659733345, + -345.67727814740897, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 498.52176659733345, + -348.2753543587623, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 500.02176659733345, + -350.8734305701156, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 501.52176659733345, + -353.4715067814689, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 503.02176659733345, + -356.06958299282223, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 504.52176659733345, + -358.66765920417555, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 506.02176659733345, + -361.26573541552887, + -3.105783825731549 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 507.52176659733345, + -363.8638116268822, + -3.105783825731549 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-40-51_773446912/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-40-51_773446912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f717e47a3fa585293a633b0cce0a4050055b99b5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-40-51_773446912/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 530.0662150716716, + -421.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 527.4681388603183, + -423.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 524.8700626489649, + -424.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 522.2719864376115, + -426.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 519.6739102262582, + -427.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 517.0758340149048, + -429.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 514.4777578035514, + -430.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 511.8796815921981, + -432.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 509.2816053808448, + -433.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 506.68352916949146, + -435.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 504.08545295813815, + -436.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 501.48737674678483, + -438.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 498.8893005354315, + -439.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 496.2912243240782, + -441.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 493.6931481127249, + -442.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 491.09507190137157, + -444.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 488.49699569001825, + -445.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 485.89891947866494, + -447.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 483.3008432673116, + -448.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 480.7027670559583, + -450.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 478.104690844605, + -451.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 475.5066146332517, + -453.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 472.90853842189836, + -454.8160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 470.31046221054504, + -456.3160047398233, + 1.6608541465937563 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 470.31046221054504, + -456.3160047398233, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 468.81046221054504, + -458.91408095117663, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 467.31046221054504, + -461.51215716252995, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 465.81046221054504, + -464.11023337388326, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 464.31046221054504, + -466.7083095852366, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 462.81046221054504, + -469.3063857965899, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 461.31046221054504, + -471.9044620079432, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 459.81046221054504, + -474.5025382192965, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 458.31046221054504, + -477.10061443064984, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 456.81046221054504, + -479.69869064200316, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 455.31046221054504, + -482.2967668533565, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 453.81046221054504, + -484.8948430647098, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 452.31046221054504, + -487.4929192760631, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 450.81046221054504, + -490.0909954874164, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 449.31046221054504, + -492.68907169876974, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 447.81046221054504, + -495.28714791012305, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 446.31046221054504, + -497.88522412147637, + 1.6608541465937563 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 446.31046221054504, + -497.88522412147637, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 446.31046221054504, + -500.88522412147637, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 446.31046221054504, + -503.88522412147637, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 446.31046221054504, + -506.88522412147637, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 446.31046221054504, + -509.88522412147637, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 446.31046221054504, + -512.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 446.31046221054504, + -515.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 446.31046221054504, + -518.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 446.31046221054504, + -521.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 446.31046221054504, + -524.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 446.31046221054504, + -527.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 446.31046221054504, + -530.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 446.31046221054504, + -533.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 446.31046221054504, + -536.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 446.31046221054504, + -539.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 446.31046221054504, + -542.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 446.31046221054504, + -545.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 446.31046221054504, + -548.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 446.31046221054504, + -551.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 446.31046221054504, + -554.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 446.31046221054504, + -557.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 446.31046221054504, + -560.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 446.31046221054504, + -563.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 446.31046221054504, + -566.8852241214763, + 1.6608541465937563 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 446.31046221054504, + -566.8852241214763, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 444.81046221054504, + -569.4833003328297, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 443.31046221054504, + -572.0813765441831, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 441.81046221054504, + -574.6794527555364, + 1.6608541465937563 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 440.31046221054504, + -577.2775289668898, + 1.6608541465937563 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 437.9839408874512, + -578.2894577026368, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-42-49_788380902/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-42-49_788380902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..777525a1c5a59493d1870c5360574a7f5c99aee5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-42-49_788380902/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 887.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 890.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 893.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 896.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 899.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 902.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 905.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 908.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 911.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 914.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 914.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 914.681849485674, + -349.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 916.181849485674, + -352.4994089989908, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 917.681849485674, + -355.09748521034413, + 1.162760282183318 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 917.681849485674, + -355.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 920.2799256970272, + -356.59748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 922.8780019083806, + -358.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 925.476078119734, + -359.59748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 928.0741543310874, + -361.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 930.6722305424407, + -362.59748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 933.2703067537941, + -364.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 935.8683829651475, + -365.59748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 938.4664591765008, + -367.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 941.0645353878542, + -368.59748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 943.6626115992076, + -370.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 946.260687810561, + -371.59748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 948.8587640219143, + -373.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 951.4568402332677, + -374.59748521034413, + 1.162760282183318 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 951.4568402332677, + -374.59748521034413, + 1.162760282183318 + ], + "type": "turn left", + "value": 30, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 951.4568402332677, + -374.59748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983083 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 954.0549164446211, + -373.09748521034413, + 1.162760282183318 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983083 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 954.0549164446211, + -373.09748521034413, + 1.162760282183318 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 954.0549164446211, + -373.09748521034413, + 1.162760282183318 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 954.0549164446211, + -373.09748521034413, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 952.5549164446211, + -370.4994089989908, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 951.0549164446211, + -367.9013327876375, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 949.5549164446211, + -365.3032565762842, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 948.0549164446211, + -362.70518036493087, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 946.5549164446211, + -360.10710415357755, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 945.0549164446211, + -357.50902794222424, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 943.5549164446211, + -354.9109517308709, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 942.0549164446211, + -352.3128755195176, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 940.5549164446211, + -349.7147993081643, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 939.0549164446211, + -347.116723096811, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 937.5549164446211, + -344.51864688545766, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 936.0549164446211, + -341.92057067410434, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 934.5549164446211, + -339.322494462751, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 933.0549164446211, + -336.7244182513977, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 931.5549164446211, + -334.1263420400444, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 930.0549164446211, + -331.5282658286911, + 1.162760282183318 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 930.0549164446211, + -331.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 930.0549164446211, + -328.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 930.0549164446211, + -325.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 930.0549164446211, + -322.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 930.0549164446211, + -319.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 930.0549164446211, + -316.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 930.0549164446211, + -313.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 930.0549164446211, + -310.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 930.0549164446211, + -307.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 930.0549164446211, + -304.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 930.0549164446211, + -301.5282658286911, + 1.162760282183318 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 930.0549164446211, + -298.5282658286911, + 1.162760282183318 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-45-12_1077683174/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-45-12_1077683174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c25607a8363bb1da34219f5a409b5d24151e08c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-45-12_1077683174/pose.jsonl @@ -0,0 +1,1094 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -371.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -368.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -365.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -362.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -359.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -356.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -353.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -350.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -347.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -344.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -341.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -338.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -335.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -332.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -329.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -326.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -323.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -317.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -314.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -311.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -308.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -305.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -302.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -299.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -296.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -293.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -290.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -287.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -284.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -281.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -281.53731420048683, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -278.9392379891335, + 35.26784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -276.3411617777802, + 36.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -273.7430855664269, + 38.26784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -271.14500935507357, + 39.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -268.54693314372025, + 41.26784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -265.94885693236694, + 42.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -263.3507807210136, + 44.26784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -260.7527045096603, + 45.76784705449066, + 2.840061926234579 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -260.7527045096603, + 45.76784705449066, + 2.840061926234579 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -260.7527045096603, + 45.76784705449066, + 2.840061926234579 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -260.7527045096603, + 45.76784705449066, + 2.840061926234579 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -260.7527045096603, + 45.76784705449066, + 2.840061926234579 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -260.7527045096603, + 45.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -260.7527045096603, + 42.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -260.7527045096603, + 39.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -260.7527045096603, + 36.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -260.7527045096603, + 33.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -260.7527045096603, + 30.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -260.7527045096603, + 27.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -260.7527045096603, + 24.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -260.7527045096603, + 21.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -260.7527045096603, + 18.76784705449066, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -260.7527045096603, + 15.767847054490659, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -260.7527045096603, + 12.767847054490659, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -260.7527045096603, + 9.767847054490659, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -260.7527045096603, + 6.767847054490659, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -260.7527045096603, + 3.767847054490659, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -260.7527045096603, + 0.7678470544906588, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -260.7527045096603, + -2.232152945509341, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -260.7527045096603, + -5.232152945509341, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -260.7527045096603, + -8.232152945509341, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -260.7527045096603, + -11.232152945509341, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -260.7527045096603, + -14.232152945509341, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -260.7527045096603, + -17.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -260.7527045096603, + -20.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -260.7527045096603, + -23.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -260.7527045096603, + -26.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -260.7527045096603, + -29.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -260.7527045096603, + -32.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -260.7527045096603, + -35.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -260.7527045096603, + -38.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -260.7527045096603, + -41.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -260.7527045096603, + -44.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -260.7527045096603, + -47.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -260.7527045096603, + -50.23215294550934, + 2.840061926234579 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -260.7527045096603, + -50.23215294550934, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -259.2527045096603, + -52.83022915686266, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -257.7527045096603, + -55.42830536821597, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -256.2527045096603, + -58.02638157956929, + 2.840061926234579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -254.7527045096603, + -60.624457790922605, + 2.840061926234579 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-48-1_1489692377/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-48-1_1489692377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34035de020c3540c21d51b92524111069edb4437 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-48-1_1489692377/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1377.44181127502, + 36.440777684790234, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1378.94181127502, + 39.03885389614355, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1380.44181127502, + 41.636930107496866, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1381.94181127502, + 44.23500631885018, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1383.44181127502, + 46.8330825302035, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1384.94181127502, + 49.431158741556814, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1386.44181127502, + 52.02923495291013, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1387.94181127502, + 54.627311164263446, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1389.44181127502, + 57.22538737561676, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1390.94181127502, + 59.82346358697008, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1392.44181127502, + 62.421539798323394, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1393.94181127502, + 65.01961600967671, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1395.44181127502, + 67.61769222103003, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1396.94181127502, + 70.21576843238334, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1398.44181127502, + 72.81384464373666, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1399.94181127502, + 75.41192085508997, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1401.44181127502, + 78.00999706644329, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1402.94181127502, + 80.6080732777966, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1404.44181127502, + 83.20614948914992, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1405.94181127502, + 85.80422570050324, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1407.44181127502, + 88.40230191185655, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1408.94181127502, + 91.00037812320987, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1410.44181127502, + 93.59845433456319, + -2.1086801297021927 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1410.44181127502, + 93.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1410.44181127502, + 96.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1410.44181127502, + 99.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1410.44181127502, + 102.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1410.44181127502, + 105.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1410.44181127502, + 108.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1410.44181127502, + 111.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1410.44181127502, + 114.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1410.44181127502, + 117.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1410.44181127502, + 120.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1410.44181127502, + 123.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1410.44181127502, + 126.59845433456319, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1410.44181127502, + 129.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1410.44181127502, + 132.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1410.44181127502, + 135.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1410.44181127502, + 138.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1410.44181127502, + 141.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1410.44181127502, + 144.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1410.44181127502, + 147.5984543345632, + -2.1086801297021927 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1410.44181127502, + 147.5984543345632, + -2.1086801297021927 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1410.44181127502, + 147.5984543345632, + -2.1086801297021927 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1410.44181127502, + 147.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1407.8437350636666, + 149.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1405.2456588523132, + 150.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1402.6475826409599, + 152.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1400.0495064296065, + 153.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1397.451430218253, + 155.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1394.8533540068997, + 156.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1392.2552777955464, + 158.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1389.657201584193, + 159.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1387.0591253728396, + 161.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1384.4610491614862, + 162.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1381.8629729501329, + 164.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1379.2648967387795, + 165.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1376.6668205274261, + 167.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1374.0687443160728, + 168.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1371.4706681047194, + 170.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1368.872591893366, + 171.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1366.2745156820126, + 173.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1363.6764394706593, + 174.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1361.078363259306, + 176.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1358.4802870479525, + 177.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1355.8822108365991, + 179.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1353.2841346252458, + 180.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1350.6860584138924, + 182.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1348.087982202539, + 183.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1345.4899059911857, + 185.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1342.8918297798323, + 186.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1340.293753568479, + 188.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1337.6956773571255, + 189.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1335.0976011457722, + 191.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1332.4995249344188, + 192.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1329.9014487230654, + 194.0984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1327.303372511712, + 195.5984543345632, + -2.1086801297021927 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1327.303372511712, + 195.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1324.303372511712, + 195.5984543345632, + -2.1086801297021927 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1321.303372511712, + 195.5984543345632, + -2.1086801297021927 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-49-50_518434573/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-49-50_518434573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61a781c0eac29b2d45efe0b7e6d93d834bc204e1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-49-50_518434573/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 877.1689113740035, + -349.5406552437226, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 878.6689113740035, + -346.9425790323693, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 880.1689113740035, + -344.34450282101596, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 881.6689113740035, + -341.74642660966265, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 883.1689113740035, + -339.14835039830933, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 884.6689113740035, + -336.550274186956, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 886.1689113740035, + -333.9521979756027, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 887.6689113740035, + -331.3541217642494, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 889.1689113740035, + -328.75604555289607, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 890.6689113740035, + -326.15796934154275, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 892.1689113740035, + -323.55989313018944, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 893.6689113740035, + -320.9618169188361, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 895.1689113740035, + -318.3637407074828, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 896.6689113740035, + -315.7656644961295, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 898.1689113740035, + -313.1675882847762, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 899.6689113740035, + -310.56951207342286, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 901.1689113740035, + -307.97143586206954, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 902.6689113740035, + -305.3733596507162, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 904.1689113740035, + -302.7752834393629, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 905.6689113740035, + -300.1772072280096, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 907.1689113740035, + -297.5791310166563, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 908.6689113740035, + -294.98105480530296, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 910.1689113740035, + -292.38297859394964, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 911.6689113740035, + -289.78490238259633, + 0.6645153036243752 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 911.6689113740035, + -289.78490238259633, + 0.6645153036243752 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 911.6689113740035, + -289.78490238259633, + 0.6645153036243752 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 911.6689113740035, + -289.78490238259633, + 0.6645153036243752 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 911.6689113740035, + -289.78490238259633, + 0.6645153036243752 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 911.6689113740035, + -289.78490238259633, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 913.1689113740035, + -292.38297859394964, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 914.6689113740035, + -294.98105480530296, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 916.1689113740035, + -297.5791310166563, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 917.6689113740035, + -300.1772072280096, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 919.1689113740035, + -302.7752834393629, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 920.6689113740035, + -305.3733596507162, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 922.1689113740035, + -307.97143586206954, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 923.6689113740035, + -310.56951207342286, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 925.1689113740035, + -313.1675882847762, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 926.6689113740035, + -315.7656644961295, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 928.1689113740035, + -318.3637407074828, + 0.6645153036243752 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 928.1689113740035, + -318.3637407074828, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 930.7669875853569, + -319.8637407074828, + 0.6645153036243752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 933.3650637967103, + -321.3637407074828, + 0.6645153036243752 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-49-8_1922757472/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-49-8_1922757472/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bef636a66920d2e89473505861e807b3dd55f69a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-49-8_1922757472/pose.jsonl @@ -0,0 +1,1159 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1279.1369587609602, + -347.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1279.1369587609602, + -344.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1279.1369587609602, + -341.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1279.1369587609602, + -338.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1279.1369587609602, + -335.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1279.1369587609602, + -332.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1279.1369587609602, + -329.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1279.1369587609602, + -326.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1279.1369587609602, + -323.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1279.1369587609602, + -320.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1279.1369587609602, + -317.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1279.1369587609602, + -314.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1279.1369587609602, + -311.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1279.1369587609602, + -308.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1279.1369587609602, + -305.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1279.1369587609602, + -302.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1279.1369587609602, + -299.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1279.1369587609602, + -296.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1279.1369587609602, + -293.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1279.1369587609602, + -290.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1279.1369587609602, + -287.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1279.1369587609602, + -284.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1279.1369587609602, + -281.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1279.1369587609602, + -278.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1279.1369587609602, + -275.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1279.1369587609602, + -272.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1279.1369587609602, + -269.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1279.1369587609602, + -266.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1279.1369587609602, + -263.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1279.1369587609602, + -260.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1279.1369587609602, + -257.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1279.1369587609602, + -254.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1279.1369587609602, + -251.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1279.1369587609602, + -248.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1279.1369587609602, + -245.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1279.1369587609602, + -242.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1279.1369587609602, + -239.3763378224378, + -1.7291486395468842 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1279.1369587609602, + -239.3763378224378, + -1.7291486395468842 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1279.1369587609602, + -239.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1276.5388825496068, + -237.8763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1273.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1273.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1273.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1273.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1273.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1273.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1273.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1276.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1279.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1282.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1285.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1288.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1291.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1294.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1297.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1300.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1303.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1306.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1309.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1312.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1312.9408063382534, + -236.3763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1315.5388825496068, + -234.8763378224378, + -1.7291486395468842 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1315.5388825496068, + -234.8763378224378, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1317.0388825496068, + -232.27826161108447, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1318.5388825496068, + -229.68018539973116, + -1.7291486395468842 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1318.5388825496068, + -229.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1321.1369587609602, + -228.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1323.7350349723135, + -226.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1326.333111183667, + -225.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1328.9311873950203, + -223.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1331.5292636063737, + -222.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1334.127339817727, + -220.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1336.7254160290804, + -219.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1339.3234922404338, + -217.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1341.9215684517872, + -216.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1344.5196446631405, + -214.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1347.117720874494, + -213.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1349.7157970858473, + -211.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1352.3138732972006, + -210.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1354.911949508554, + -208.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1357.5100257199074, + -207.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1360.1081019312608, + -205.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1362.7061781426141, + -204.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 1365.3042543539675, + -202.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 1367.9023305653209, + -201.18018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + 1370.5004067766743, + -199.68018539973116, + -1.7291486395468842 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + 1373.0984829880276, + -198.18018539973116, + -1.7291486395468842 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-5-9_411826969/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-5-9_411826969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53f30d897f07c6350067b1cf23677628952456e3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-5-9_411826969/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 699.7892382345984, + 32.354536776305636, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 702.7892382345984, + 32.354536776305636, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 705.7892382345984, + 32.354536776305636, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 708.7892382345984, + 32.354536776305636, + 1.6944331436739857 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 708.7892382345984, + 32.354536776305636, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 711.3873144459517, + 30.854536776305636, + 1.6944331436739857 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 711.3873144459517, + 30.854536776305636, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 712.8873144459517, + 28.25646056495232, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 714.3873144459517, + 25.658384353599004, + 1.6944331436739857 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 714.3873144459517, + 25.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 716.9853906573051, + 24.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 719.5834668686584, + 22.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 722.1815430800118, + 21.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 724.7796192913652, + 19.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 727.3776955027186, + 18.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 729.9757717140719, + 16.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 732.5738479254253, + 15.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 735.1719241367787, + 13.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 737.770000348132, + 12.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 740.3680765594854, + 10.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 742.9661527708388, + 9.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 745.5642289821922, + 7.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 748.1623051935455, + 6.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 750.7603814048989, + 4.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 753.3584576162523, + 3.158384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 755.9565338276057, + 1.6583843535990044, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 758.554610038959, + 0.1583843535990046, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 761.1526862503124, + -1.3416156464009952, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 763.7507624616658, + -2.841615646400995, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 766.3488386730191, + -4.341615646400995, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 768.9469148843725, + -5.841615646400995, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 771.5449910957259, + -7.341615646400995, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 774.1430673070793, + -8.841615646400994, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 776.7411435184326, + -10.341615646400994, + 1.6944331436739857 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 776.7411435184326, + -10.341615646400994, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 778.2411435184326, + -12.93969185775431, + 1.6944331436739857 + ], + "type": "turn left", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 778.2411435184326, + -12.93969185775431, + 1.6944331436739857 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 778.2411435184326, + -12.93969185775431, + 1.6944331436739857 + ], + "type": "turn left", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 778.2411435184326, + -12.93969185775431, + 1.6944331436739857 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 778.2411435184326, + -12.93969185775431, + 1.6944331436739857 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 778.2411435184326, + -12.93969185775431, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 778.2411435184326, + -9.93969185775431, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 778.2411435184326, + -6.93969185775431, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 778.2411435184326, + -3.93969185775431, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 778.2411435184326, + -0.9396918577543101, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 778.2411435184326, + 2.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 778.2411435184326, + 5.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 778.2411435184326, + 8.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 778.2411435184326, + 11.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 778.2411435184326, + 14.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 778.2411435184326, + 17.060308142245688, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 778.2411435184326, + 20.060308142245688, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 778.2411435184326, + 23.060308142245688, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 778.2411435184326, + 26.060308142245688, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 778.2411435184326, + 29.060308142245688, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 778.2411435184326, + 32.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 778.2411435184326, + 35.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 778.2411435184326, + 38.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 778.2411435184326, + 41.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 778.2411435184326, + 44.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 778.2411435184326, + 47.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 778.2411435184326, + 50.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 778.2411435184326, + 53.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 778.2411435184326, + 56.06030814224569, + 1.6944331436739857 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 778.2411435184326, + 56.06030814224569, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 779.7411435184326, + 58.658384353599004, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 781.2411435184326, + 61.25646056495232, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 782.7411435184326, + 63.854536776305636, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 784.2411435184326, + 66.45261298765895, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 785.7411435184326, + 69.05068919901227, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 787.2411435184326, + 71.64876541036558, + 1.6944331436739857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 788.7411435184326, + 74.2468416217189, + 1.6944331436739857 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-50-16_1450238957/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-50-16_1450238957/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0eb9bec3cfad5817de44f1951fa735ccceb52257 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-50-16_1450238957/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -59.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -62.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -68.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -71.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -74.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -77.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -80.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -83.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -86.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -89.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -92.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -95.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -98.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -101.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -104.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -107.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -110.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -113.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -116.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -119.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -122.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -125.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -128.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -131.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -134.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -137.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -140.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -143.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -143.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -143.686004413836, + -248.45944411546085, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -145.186004413836, + -245.86136790410754, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -146.686004413836, + -243.26329169275422, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -148.186004413836, + -240.6652154814009, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -149.686004413836, + -238.0671392700476, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -151.186004413836, + -235.46906305869427, + 0.21516753905257957 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -151.186004413836, + -235.46906305869427, + 0.21516753905257957 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -151.186004413836, + -235.46906305869427, + 0.21516753905257957 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -151.186004413836, + -235.46906305869427, + 0.21516753905257957 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -151.186004413836, + -235.46906305869427, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -148.5879282024827, + -233.96906305869427, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -145.98985199112937, + -232.46906305869427, + 0.21516753905257957 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -145.98985199112937, + -232.46906305869427, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -144.48985199112937, + -229.87098684734096, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -142.98985199112937, + -227.27291063598764, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -141.48985199112937, + -224.67483442463433, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -139.98985199112937, + -222.076758213281, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -138.48985199112937, + -219.4786820019277, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -136.98985199112937, + -216.88060579057438, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -135.48985199112937, + -214.28252957922106, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -133.98985199112937, + -211.68445336786775, + 0.21516753905257957 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -133.98985199112937, + -211.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -133.98985199112937, + -208.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -133.98985199112937, + -205.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -133.98985199112937, + -202.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -133.98985199112937, + -199.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -133.98985199112937, + -196.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -133.98985199112937, + -193.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -133.98985199112937, + -190.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -133.98985199112937, + -187.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -133.98985199112937, + -184.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -133.98985199112937, + -181.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -133.98985199112937, + -178.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -133.98985199112937, + -175.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -133.98985199112937, + -172.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -133.98985199112937, + -169.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -133.98985199112937, + -166.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -133.98985199112937, + -163.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -133.98985199112937, + -160.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -133.98985199112937, + -157.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -133.98985199112937, + -154.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -133.98985199112937, + -151.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -133.98985199112937, + -148.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -133.98985199112937, + -145.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -133.98985199112937, + -142.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -133.98985199112937, + -139.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -133.98985199112937, + -136.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -133.98985199112937, + -133.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -133.98985199112937, + -130.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -133.98985199112937, + -127.68445336786775, + 0.21516753905257957 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -133.98985199112937, + -124.68445336786775, + 0.21516753905257957 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-52-30_379366797/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-52-30_379366797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6f370822f63e0cae1969fcdb138bd1a182f9348 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-52-30_379366797/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 336.19724332826326, + -187.64729199796903, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 337.69724332826326, + -185.04921578661572, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 339.19724332826326, + -182.4511395752624, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 340.69724332826326, + -179.8530633639091, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 342.19724332826326, + -177.25498715255577, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 343.69724332826326, + -174.65691094120245, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 345.19724332826326, + -172.05883472984914, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 346.69724332826326, + -169.46075851849582, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 348.19724332826326, + -166.8626823071425, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 349.69724332826326, + -164.2646060957892, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 351.19724332826326, + -161.66652988443587, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 352.69724332826326, + -159.06845367308256, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 354.19724332826326, + -156.47037746172924, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 355.69724332826326, + -153.87230125037593, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 357.19724332826326, + -151.2742250390226, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 358.69724332826326, + -148.6761488276693, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 360.19724332826326, + -146.07807261631598, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 361.69724332826326, + -143.47999640496266, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 363.19724332826326, + -140.88192019360935, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 364.69724332826326, + -138.28384398225603, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 366.19724332826326, + -135.68576777090271, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 367.69724332826326, + -133.0876915595494, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 369.19724332826326, + -130.48961534819608, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 370.69724332826326, + -127.89153913684277, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 372.19724332826326, + -125.29346292548945, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 373.69724332826326, + -122.69538671413613, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 375.19724332826326, + -120.09731050278282, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 376.69724332826326, + -117.4992342914295, + 1.0814763720431309 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 376.69724332826326, + -117.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 376.69724332826326, + -114.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 376.69724332826326, + -111.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 376.69724332826326, + -108.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 376.69724332826326, + -105.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 376.69724332826326, + -102.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 376.69724332826326, + -99.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 376.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 376.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 376.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 376.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 376.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 373.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 370.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 367.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 364.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 361.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 358.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 355.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 352.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 349.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 346.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 343.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 340.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 337.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 334.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 331.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 331.69724332826326, + -96.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 329.09916711690994, + -94.9992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 326.5010909055566, + -93.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 323.9030146942033, + -91.9992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 321.30493848285, + -90.4992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 318.7068622714967, + -88.9992342914295, + 1.0814763720431309 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 316.10878606014336, + -87.4992342914295, + 1.0814763720431309 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-55-29_522971726/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-55-29_522971726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28aa913dd11cecbeef094cc3ba54337f751dd063 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-55-29_522971726/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 754.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 751.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 748.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 745.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 742.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 739.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 736.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 733.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 730.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 727.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 724.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 721.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 718.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 715.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 712.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 709.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 706.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 706.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 706.4160897571666, + -77.27592164450527, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 704.9160897571666, + -74.67784543315196, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 703.4160897571666, + -72.07976922179864, + 0.8168528550112946 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 703.4160897571666, + -72.07976922179864, + 0.8168528550112946 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 703.4160897571666, + -72.07976922179864, + 0.8168528550112946 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 703.4160897571666, + -72.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 706.0141659685198, + -70.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 708.6122421798732, + -69.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 711.2103183912266, + -67.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 713.8083946025799, + -66.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 716.4064708139333, + -64.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 719.0045470252867, + -63.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 721.60262323664, + -61.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 724.2006994479934, + -60.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 726.7987756593468, + -58.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 729.3968518707002, + -57.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 731.9949280820535, + -55.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 734.5930042934069, + -54.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 737.1910805047603, + -52.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 739.7891567161137, + -51.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 742.387232927467, + -49.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 744.9853091388204, + -48.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 747.5833853501738, + -46.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 750.1814615615272, + -45.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 752.7795377728805, + -43.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 755.3776139842339, + -42.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 757.9756901955873, + -40.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 760.5737664069406, + -39.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 763.171842618294, + -37.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 765.7699188296474, + -36.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 768.3679950410008, + -34.57976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 770.9660712523541, + -33.07976922179864, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 773.5641474637075, + -31.579769221798642, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 776.1622236750609, + -30.079769221798642, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 778.7602998864143, + -28.579769221798642, + 0.8168528550112946 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 778.7602998864143, + -28.579769221798642, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 780.2602998864143, + -25.981693010445326, + 0.8168528550112946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 781.7602998864143, + -23.38361679909201, + 0.8168528550112946 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-57-43_455843485/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-57-43_455843485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fef9f5c820d588f539489059c728bcb64a6a5397 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-57-43_455843485/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 112.40908594896908, + -622.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 109.81100973761576, + -621.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 107.21293352626245, + -619.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 104.61485731490913, + -618.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 102.01678110355581, + -616.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 99.4187048922025, + -615.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 96.82062868084918, + -613.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 94.22255246949587, + -612.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.62447625814255, + -610.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.02640004678923, + -609.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.42832383543592, + -607.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 83.8302476240826, + -606.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 81.23217141272929, + -604.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 78.63409520137597, + -603.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 76.03601899002265, + -601.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 73.43794277866934, + -600.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 70.83986656731602, + -598.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 68.2417903559627, + -597.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 65.64371414460939, + -595.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 63.045637933256074, + -594.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 60.44756172190276, + -592.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 57.84948551054944, + -591.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 55.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 55.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 52.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 49.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 46.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 43.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 40.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 37.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 34.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 31.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 34.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 37.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 40.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 43.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 46.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 49.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 52.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 55.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 55.251409299196126, + -589.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 57.84948551054944, + -588.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 60.44756172190276, + -586.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 63.045637933256074, + -585.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 65.64371414460939, + -583.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 68.2417903559627, + -582.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 70.83986656731602, + -580.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 73.43794277866934, + -579.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 76.03601899002265, + -577.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 78.63409520137597, + -576.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 81.23217141272929, + -574.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 83.8302476240826, + -573.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 86.42832383543592, + -571.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 89.02640004678923, + -570.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 91.62447625814255, + -568.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 94.22255246949587, + -567.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 96.82062868084918, + -565.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 99.4187048922025, + -564.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 102.01678110355581, + -562.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 104.61485731490913, + -561.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 107.21293352626245, + -559.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 109.81100973761576, + -558.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 112.40908594896908, + -556.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 115.0071621603224, + -555.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 117.60523837167571, + -553.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 120.20331458302903, + -552.3322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 122.80139079438234, + -550.8322655354366, + 0.13709507943682198 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 125.39946700573566, + -549.3322655354366, + 0.13709507943682198 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-58-54_1670372305/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-58-54_1670372305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..209c249b532a0d264cc031a018402f4d4f4348fd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-58-54_1670372305/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1541.8831385072854, + 77.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1541.8831385072854, + 74.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1541.8831385072854, + 71.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1541.8831385072854, + 68.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1541.8831385072854, + 65.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1541.8831385072854, + 62.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1541.8831385072854, + 59.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1541.8831385072854, + 56.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1541.8831385072854, + 53.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1541.8831385072854, + 50.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1541.8831385072854, + 47.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1541.8831385072854, + 44.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1541.8831385072854, + 41.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1541.8831385072854, + 38.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1541.8831385072854, + 35.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1541.8831385072854, + 32.67427373240925, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1541.8831385072854, + 29.674273732409247, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1541.8831385072854, + 26.674273732409247, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1541.8831385072854, + 23.674273732409247, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1541.8831385072854, + 20.674273732409247, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1541.8831385072854, + 17.674273732409247, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1541.8831385072854, + 14.674273732409247, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1541.8831385072854, + 11.674273732409247, + 4.501036329862307 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1541.8831385072854, + 11.674273732409247, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1540.3831385072854, + 9.076197521055931, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1538.8831385072854, + 6.478121309702615, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1537.3831385072854, + 3.8800450983492993, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1535.8831385072854, + 1.2819688869959833, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1534.3831385072854, + -1.3161073243573327, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1532.8831385072854, + -3.9141835357106487, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1531.3831385072854, + -6.512259747063965, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1529.8831385072854, + -9.11033595841728, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1528.3831385072854, + -11.708412169770597, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1526.8831385072854, + -14.306488381123913, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1525.3831385072854, + -16.90456459247723, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1523.8831385072854, + -19.502640803830545, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1522.3831385072854, + -22.10071701518386, + 4.501036329862307 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1522.3831385072854, + -22.10071701518386, + 4.501036329862307 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1522.3831385072854, + -22.10071701518386, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1523.8831385072854, + -24.698793226537177, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1525.3831385072854, + -27.296869437890493, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1526.8831385072854, + -29.89494564924381, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1528.3831385072854, + -32.493021860597125, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1529.8831385072854, + -35.09109807195044, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1531.3831385072854, + -37.68917428330376, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1532.8831385072854, + -40.28725049465707, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1534.3831385072854, + -42.88532670601039, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1535.8831385072854, + -45.483402917363705, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1537.3831385072854, + -48.08147912871702, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1538.8831385072854, + -50.67955534007034, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1540.3831385072854, + -53.27763155142365, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1541.8831385072854, + -55.87570776277697, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1543.3831385072854, + -58.473783974130285, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1544.8831385072854, + -61.0718601854836, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1546.3831385072854, + -63.66993639683692, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1547.8831385072854, + -66.26801260819023, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1549.3831385072854, + -68.86608881954355, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1550.8831385072854, + -71.46416503089687, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1552.3831385072854, + -74.06224124225018, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1553.8831385072854, + -76.6603174536035, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1555.3831385072854, + -79.25839366495681, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1556.8831385072854, + -81.85646987631013, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1558.3831385072854, + -84.45454608766345, + 4.501036329862307 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1558.3831385072854, + -84.45454608766345, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1558.3831385072854, + -87.45454608766345, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1558.3831385072854, + -90.45454608766345, + 4.501036329862307 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1558.3831385072854, + -93.45454608766345, + 4.501036329862307 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-7-43_1762924393/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-7-43_1762924393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce289a9fa47212a9907a2052fa8c01ad3673dd74 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-7-43_1762924393/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 913.5188689732653, + -306.49007166136516, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 912.0188689732653, + -309.0881478727185, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 910.5188689732653, + -311.6862240840718, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 909.0188689732653, + -314.2843002954251, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 907.5188689732653, + -316.8823765067784, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 906.0188689732653, + -319.48045271813174, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 904.5188689732653, + -322.07852892948506, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 903.0188689732653, + -324.6766051408384, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 901.5188689732653, + -327.2746813521917, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 900.0188689732653, + -329.872757563545, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 898.5188689732653, + -332.4708337748983, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 897.0188689732653, + -335.06890998625164, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 895.5188689732653, + -337.66698619760496, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 894.0188689732653, + -340.2650624089583, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 892.5188689732653, + -342.8631386203116, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 891.0188689732653, + -345.4612148316649, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 889.5188689732653, + -348.0592910430182, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 888.0188689732653, + -350.65736725437154, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 886.5188689732653, + -353.25544346572485, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 885.0188689732653, + -355.85351967707817, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 883.5188689732653, + -358.4515958884315, + -2.840373963057592 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 883.5188689732653, + -358.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 883.5188689732653, + -361.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 883.5188689732653, + -364.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 883.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 883.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 883.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 883.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 883.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 886.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 889.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 892.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 895.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 898.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 901.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 904.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 907.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 910.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 913.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 916.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 919.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 922.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 925.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 928.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 931.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 934.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 937.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 940.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 943.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 946.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 949.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 952.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 952.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 952.5188689732653, + -367.4515958884315, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 954.0188689732653, + -370.0496720997848, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 955.5188689732653, + -372.6477483111381, + -2.840373963057592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 957.0188689732653, + -375.24582452249143, + -2.840373963057592 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-9-27_10150109/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-9-27_10150109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90ca1a8dde8d7ca49ee33d66437953c2f65a2c85 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_8-9-27_10150109/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -332.60756740915394, + -261.28606968909367, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -331.10756740915394, + -258.68799347774035, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -329.60756740915394, + -256.08991726638703, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -328.10756740915394, + -253.49184105503372, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -326.60756740915394, + -250.8937648436804, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -325.10756740915394, + -248.29568863232709, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -323.60756740915394, + -245.69761242097377, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -322.10756740915394, + -243.09953620962045, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -320.60756740915394, + -240.50145999826714, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -319.10756740915394, + -237.90338378691382, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -317.60756740915394, + -235.3053075755605, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -316.10756740915394, + -232.7072313642072, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -314.60756740915394, + -230.10915515285387, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -313.10756740915394, + -227.51107894150056, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -311.60756740915394, + -224.91300273014724, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -310.10756740915394, + -222.31492651879392, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -308.60756740915394, + -219.7168503074406, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -307.10756740915394, + -217.1187740960873, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -305.60756740915394, + -214.52069788473398, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -304.10756740915394, + -211.92262167338066, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -302.60756740915394, + -209.32454546202734, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -301.10756740915394, + -206.72646925067403, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -299.60756740915394, + -204.1283930393207, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -298.10756740915394, + -201.5303168279674, + -4.4716105059275195 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -298.10756740915394, + -201.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -295.5094911978006, + -200.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -292.9114149864473, + -198.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -290.313338775094, + -197.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -287.7152625637407, + -195.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -285.11718635238736, + -194.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -282.51911014103405, + -192.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -279.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -279.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -279.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -276.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -273.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -270.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -267.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -264.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -261.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -258.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -255.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -255.92103392968073, + -191.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -253.32295771832742, + -189.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -250.7248815069741, + -188.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -248.12680529562078, + -186.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -245.52872908426747, + -185.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -242.93065287291415, + -183.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -240.33257666156084, + -182.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -237.73450045020752, + -180.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -235.1364242388542, + -179.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -232.5383480275009, + -177.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -229.94027181614757, + -176.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -227.34219560479426, + -174.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -224.74411939344094, + -173.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -222.14604318208762, + -171.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -219.5479669707343, + -170.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -216.949890759381, + -168.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -214.35181454802768, + -167.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -211.75373833667436, + -165.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -209.15566212532104, + -164.0303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -206.55758591396773, + -162.5303168279674, + -4.4716105059275195 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -203.9595097026144, + -161.0303168279674, + -4.4716105059275195 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-1-2_1600206898/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-1-2_1600206898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3defa3a0c34e1a84785a10a97c11e082c70efada --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-1-2_1600206898/pose.jsonl @@ -0,0 +1,1068 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 163.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 160.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 157.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 154.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 151.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 148.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 145.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 142.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 139.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 136.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 133.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 130.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 127.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 124.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 121.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 118.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 115.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 112.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 109.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 106.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 103.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 100.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 97.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 94.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 91.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 88.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 85.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 82.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 79.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 76.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 76.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 76.4728083092674, + 165.1727489614451, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 74.9728083092674, + 162.5746727500918, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 73.4728083092674, + 159.97659653873848, + -2.4446463045680162 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 73.4728083092674, + 159.97659653873848, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 70.87473209791409, + 158.47659653873848, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 68.27665588656077, + 156.97659653873848, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 65.67857967520746, + 155.47659653873848, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 63.08050346385414, + 153.97659653873848, + -2.4446463045680162 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 63.08050346385414, + 153.97659653873848, + -2.4446463045680162 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 63.08050346385414, + 153.97659653873848, + -2.4446463045680162 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 63.08050346385414, + 153.97659653873848, + -2.4446463045680162 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 63.08050346385414, + 153.97659653873848, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 64.58050346385414, + 151.37852032738516, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 66.08050346385414, + 148.78044411603184, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 67.58050346385414, + 146.18236790467853, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 69.08050346385414, + 143.5842916933252, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 70.58050346385414, + 140.9862154819719, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 72.08050346385414, + 138.38813927061858, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 73.58050346385414, + 135.79006305926526, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 75.08050346385414, + 133.19198684791195, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 76.58050346385414, + 130.59391063655863, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 78.08050346385414, + 127.99583442520532, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 79.58050346385414, + 125.397758213852, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 81.08050346385414, + 122.79968200249868, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 82.58050346385414, + 120.20160579114537, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 84.08050346385414, + 117.60352957979205, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 85.58050346385414, + 115.00545336843874, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 87.08050346385414, + 112.40737715708542, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 88.58050346385414, + 109.8093009457321, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 90.08050346385414, + 107.21122473437879, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 91.58050346385414, + 104.61314852302547, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 93.08050346385414, + 102.01507231167216, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 94.58050346385414, + 99.41699610031884, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 96.08050346385414, + 96.81891988896552, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 97.58050346385414, + 94.22084367761221, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 99.08050346385414, + 91.62276746625889, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 100.58050346385414, + 89.02469125490558, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 102.08050346385414, + 86.42661504355226, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 103.58050346385414, + 83.82853883219894, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 105.08050346385414, + 81.23046262084563, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 106.58050346385414, + 78.63238640949231, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 108.08050346385414, + 76.034310198139, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 109.58050346385414, + 73.43623398678568, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 111.08050346385414, + 70.83815777543236, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 112.58050346385414, + 68.24008156407905, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 114.08050346385414, + 65.64200535272573, + -2.4446463045680162 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 114.08050346385414, + 65.64200535272573, + -2.4446463045680162 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 114.08050346385414, + 65.64200535272573, + -2.4446463045680162 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 112.58050346385414, + 63.043929141372416, + -2.4446463045680162 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-1-38_1139352160/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-1-38_1139352160/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b33cf782eb49b170e6c6db994875ced2dc39aca --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-1-38_1139352160/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 786.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 789.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 792.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 795.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 798.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 801.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 804.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 807.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 810.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 810.0154620895056, + -353.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 812.6135383008589, + -355.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 815.2116145122122, + -356.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 817.8096907235656, + -358.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 820.407766934919, + -359.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 823.0058431462724, + -361.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 825.6039193576257, + -362.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 828.2019955689791, + -364.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 830.8000717803325, + -365.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 833.3981479916858, + -367.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 835.9962242030392, + -368.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 838.5943004143926, + -370.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 841.192376625746, + -371.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 843.7904528370993, + -373.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 846.3885290484527, + -374.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 848.9866052598061, + -376.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 851.5846814711595, + -377.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 854.1827576825128, + -379.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 856.7808338938662, + -380.77596735221, + 0.9657912818135355 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 856.7808338938662, + -380.77596735221, + 0.9657912818135355 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 856.7808338938662, + -380.77596735221, + 0.9657912818135355 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 856.7808338938662, + -380.77596735221, + 0.9657912818135355 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 856.7808338938662, + -380.77596735221, + 0.9657912818135355 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 856.7808338938662, + -380.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 854.1827576825128, + -382.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 851.5846814711595, + -383.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 848.9866052598061, + -385.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 846.3885290484527, + -386.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 843.7904528370993, + -388.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 841.192376625746, + -389.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 838.5943004143926, + -391.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 835.9962242030392, + -392.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 833.3981479916858, + -394.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 830.8000717803325, + -395.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 828.2019955689791, + -397.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 825.6039193576257, + -398.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 823.0058431462724, + -400.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 820.407766934919, + -401.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 817.8096907235656, + -403.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 815.2116145122122, + -404.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 812.6135383008589, + -406.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 810.0154620895055, + -407.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 807.4173858781521, + -409.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 804.8193096667987, + -410.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 802.2212334554454, + -412.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 799.623157244092, + -413.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 797.0250810327386, + -415.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 794.4270048213853, + -416.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 791.8289286100319, + -418.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 789.2308523986785, + -419.77596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 786.6327761873251, + -421.27596735221, + 0.9657912818135355 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 786.6327761873251, + -421.27596735221, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 785.1327761873251, + -423.8740435635633, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 783.6327761873251, + -426.4721197749166, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 782.1327761873251, + -429.07019598626994, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 780.6327761873251, + -431.66827219762325, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 779.1327761873251, + -434.26634840897657, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 777.6327761873251, + -436.8644246203299, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 776.1327761873251, + -439.4625008316832, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 774.6327761873251, + -442.0605770430365, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 773.1327761873251, + -444.65865325438983, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 771.6327761873251, + -447.25672946574315, + 0.9657912818135355 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 770.1327761873251, + -449.85480567709646, + 0.9657912818135355 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-10-36_572132557/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-10-36_572132557/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9ebb1e8a5e3e5ddc678b1e50ebcedf8a10b8d83 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-10-36_572132557/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 429.31303942517894, + -296.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 431.91111563653226, + -297.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 434.5091918478856, + -299.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.1072680592389, + -300.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 439.7053442705922, + -302.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 442.3034204819455, + -303.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 444.90149669329884, + -305.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 447.49957290465215, + -306.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 450.09764911600547, + -308.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 452.6957253273588, + -309.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 455.2938015387121, + -311.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 457.8918777500654, + -312.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 460.48995396141873, + -314.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 463.08803017277205, + -315.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 465.68610638412537, + -317.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 468.2841825954787, + -318.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 470.882258806832, + -320.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 473.4803350181853, + -321.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 476.07841122953863, + -323.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 478.67648744089195, + -324.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 481.27456365224526, + -326.32707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 483.8726398635986, + -327.82707567788793, + -1.7049531415980952 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 483.8726398635986, + -327.82707567788793, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 485.3726398635986, + -330.42515188924125, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 486.8726398635986, + -333.02322810059457, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 488.3726398635986, + -335.6213043119479, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 489.8726398635986, + -338.2193805233012, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 491.3726398635986, + -340.8174567346545, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 492.8726398635986, + -343.41553294600783, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 494.3726398635986, + -346.01360915736115, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 495.8726398635986, + -348.61168536871446, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 497.3726398635986, + -351.2097615800678, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 498.8726398635986, + -353.8078377914211, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 500.3726398635986, + -356.4059140027744, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 501.8726398635986, + -359.0039902141277, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 503.3726398635986, + -361.60206642548104, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 504.8726398635986, + -364.20014263683436, + -1.7049531415980952 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 504.8726398635986, + -364.20014263683436, + -1.7049531415980952 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 504.8726398635986, + -364.20014263683436, + -1.7049531415980952 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 504.8726398635986, + -364.20014263683436, + -1.7049531415980952 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 504.8726398635986, + -364.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 502.27456365224526, + -365.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 499.67648744089195, + -367.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 497.07841122953863, + -368.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 494.4803350181853, + -370.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 491.882258806832, + -371.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 489.2841825954787, + -373.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 486.68610638412537, + -374.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 484.08803017277205, + -376.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 481.48995396141873, + -377.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 478.8918777500654, + -379.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 476.2938015387121, + -380.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 473.6957253273588, + -382.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 471.09764911600547, + -383.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 468.49957290465215, + -385.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 465.90149669329884, + -386.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 463.3034204819455, + -388.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 460.7053442705922, + -389.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 458.1072680592389, + -391.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 455.5091918478856, + -392.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 452.91111563653226, + -394.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 450.31303942517894, + -395.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 447.7149632138256, + -397.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 445.1168870024723, + -398.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 442.518810791119, + -400.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 439.9207345797657, + -401.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 437.32265836841236, + -403.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 434.72458215705905, + -404.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 432.12650594570573, + -406.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 429.5284297343524, + -407.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 426.9303535229991, + -409.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 424.3322773116458, + -410.70014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 421.73420110029247, + -412.20014263683436, + -1.7049531415980952 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 421.73420110029247, + -412.20014263683436, + -1.7049531415980952 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 420.23420110029247, + -414.7982188481877, + -1.7049531415980952 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-14-3_649785905/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-14-3_649785905/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d094dd808dad7b5e2d29bd1714c4561fcbe860a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-14-3_649785905/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -225.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -222.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -219.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -216.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -213.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -210.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -207.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -204.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -201.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -195.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -192.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -192.09706517745383, + -161.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -190.59706517745383, + -159.37864181471957, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -189.09706517745383, + -156.78056560336626, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -187.59706517745383, + -154.18248939201294, + -2.878717765421081 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -187.59706517745383, + -154.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -184.9989889661005, + -152.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -182.4009127547472, + -151.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -179.80283654339388, + -149.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -177.20476033204056, + -148.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -174.60668412068725, + -146.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -172.00860790933393, + -145.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -169.41053169798062, + -143.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -166.8124554866273, + -142.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -164.21437927527398, + -140.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -161.61630306392067, + -139.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -159.01822685256735, + -137.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -156.42015064121404, + -136.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -153.82207442986072, + -134.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.2239982185074, + -133.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -148.6259220071541, + -131.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -146.02784579580077, + -130.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -143.42976958444746, + -128.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -140.83169337309414, + -127.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -138.23361716174082, + -125.68248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -135.6355409503875, + -124.18248939201294, + -2.878717765421081 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -135.6355409503875, + -124.18248939201294, + -2.878717765421081 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -135.6355409503875, + -124.18248939201294, + -2.878717765421081 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -135.6355409503875, + -124.18248939201294, + -2.878717765421081 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -135.6355409503875, + -124.18248939201294, + -2.878717765421081 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -135.6355409503875, + -124.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -135.6355409503875, + -127.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -135.6355409503875, + -130.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -135.6355409503875, + -133.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -135.6355409503875, + -136.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -135.6355409503875, + -139.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -135.6355409503875, + -142.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -135.6355409503875, + -145.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -135.6355409503875, + -148.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -135.6355409503875, + -151.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -135.6355409503875, + -154.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -135.6355409503875, + -157.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -135.6355409503875, + -160.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -135.6355409503875, + -163.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -135.6355409503875, + -166.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -135.6355409503875, + -169.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -135.6355409503875, + -172.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -135.6355409503875, + -175.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -135.6355409503875, + -178.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -135.6355409503875, + -181.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -135.6355409503875, + -184.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -135.6355409503875, + -187.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -135.6355409503875, + -190.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -135.6355409503875, + -193.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -135.6355409503875, + -196.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -135.6355409503875, + -199.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -135.6355409503875, + -202.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -135.6355409503875, + -205.18248939201294, + -2.878717765421081 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -135.6355409503875, + -205.18248939201294, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -137.1355409503875, + -207.78056560336626, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -138.6355409503875, + -210.37864181471957, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -140.1355409503875, + -212.9767180260729, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -141.6355409503875, + -215.5747942374262, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -143.1355409503875, + -218.17287044877952, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -144.6355409503875, + -220.77094666013284, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -146.1355409503875, + -223.36902287148615, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -147.6355409503875, + -225.96709908283947, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -149.1355409503875, + -228.56517529419278, + -2.878717765421081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -150.6355409503875, + -231.1632515055461, + -2.878717765421081 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-16-11_2086963638/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-16-11_2086963638/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b47e192cfa13f6891413b8975b665c59a214d3ea --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-16-11_2086963638/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 228.1181761509431, + 36.49815687449231, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 226.6181761509431, + 39.096233085845626, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 225.1181761509431, + 41.69430929719894, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 223.6181761509431, + 44.29238550855226, + 3.2391947569415365 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 223.6181761509431, + 44.29238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 221.02009993958978, + 45.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 218.42202372823647, + 47.29238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 215.82394751688315, + 48.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 213.22587130552984, + 50.29238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 210.62779509417652, + 51.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 208.0297188828232, + 53.29238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 205.4316426714699, + 54.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 202.83356646011657, + 56.29238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 200.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 200.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 197.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 194.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 191.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 188.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 185.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 182.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 179.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 176.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 173.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 170.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 167.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 164.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 161.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 158.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 155.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 152.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 149.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 146.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 143.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 140.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 137.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 134.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 131.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 128.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 125.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 122.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 119.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 116.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 113.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 113.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 113.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 113.23549024876326, + 57.79238550855226, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 111.73549024876326, + 60.39046171990557, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 110.23549024876326, + 62.98853793125889, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 108.73549024876326, + 65.5866141426122, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 107.23549024876326, + 68.18469035396552, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 105.73549024876326, + 70.78276656531884, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 104.23549024876326, + 73.38084277667215, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 102.73549024876326, + 75.97891898802547, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 101.23549024876326, + 78.57699519937879, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 99.73549024876326, + 81.1750714107321, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 98.23549024876326, + 83.77314762208542, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 96.73549024876326, + 86.37122383343873, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 95.23549024876326, + 88.96930004479205, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 93.73549024876326, + 91.56737625614537, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 92.23549024876326, + 94.16545246749868, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 90.73549024876326, + 96.763528678852, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 89.23549024876326, + 99.36160489020531, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 87.73549024876326, + 101.95968110155863, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 86.23549024876326, + 104.55775731291195, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 84.73549024876326, + 107.15583352426526, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 83.23549024876326, + 109.75390973561858, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 81.73549024876326, + 112.3519859469719, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 80.23549024876326, + 114.95006215832521, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 78.73549024876326, + 117.54813836967853, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 77.23549024876326, + 120.14621458103184, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 75.73549024876326, + 122.74429079238516, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 74.23549024876326, + 125.34236700373847, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 72.73549024876326, + 127.94044321509179, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 71.23549024876326, + 130.5385194264451, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 69.73549024876326, + 133.13659563779842, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 68.23549024876326, + 135.73467184915174, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 66.73549024876326, + 138.33274806050505, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 65.23549024876326, + 140.93082427185837, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 63.735490248763256, + 143.5289004832117, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 62.235490248763256, + 146.126976694565, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 60.735490248763256, + 148.72505290591832, + 3.2391947569415365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 59.235490248763256, + 151.32312911727163, + 3.2391947569415365 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 59.49086513519288, + 153.78228397369386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-16-54_1403938270/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-16-54_1403938270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05a0f14e55a892b3d12dd3c9118699ff957dc04d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-16-54_1403938270/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 117.61627087771726, + 56.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 115.01819466636394, + 55.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 112.42011845501062, + 53.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 109.82204224365731, + 52.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 107.22396603230399, + 50.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 104.62588982095068, + 49.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 102.02781360959736, + 47.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 99.42973739824404, + 46.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 96.83166118689073, + 44.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.23358497553741, + 43.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 91.6355087641841, + 41.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 89.03743255283078, + 40.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.43935634147746, + 38.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.84128013012415, + 37.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 81.24320391877083, + 35.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 78.64512770741752, + 34.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 76.0470514960642, + 32.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.44897528471088, + 31.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 70.85089907335757, + 29.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 68.25282286200425, + 28.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 65.65474665065094, + 26.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 63.05667043929762, + 25.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 60.4585942279443, + 23.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 57.86051801659099, + 22.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 55.26244180523767, + 20.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 52.664365593884355, + 19.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 50.06628938253104, + 17.98881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.46821317117772, + 16.48881446814771, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 44.87013695982441, + 14.988814468147709, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 42.27206074847109, + 13.488814468147709, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 39.673984537117775, + 11.988814468147709, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 37.07590832576446, + 10.488814468147709, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 34.47783211441114, + 8.988814468147709, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 31.879755903057827, + 7.488814468147709, + -4.782912149850888 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 31.879755903057827, + 7.488814468147709, + -4.782912149850888 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 31.879755903057827, + 7.488814468147709, + -4.782912149850888 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 31.879755903057827, + 7.488814468147709, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 31.879755903057827, + 4.488814468147709, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 31.879755903057827, + 1.4888144681477087, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 31.879755903057827, + -1.5111855318522913, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 31.879755903057827, + -4.511185531852291, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 31.879755903057827, + -7.511185531852291, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 31.879755903057827, + -10.511185531852291, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 31.879755903057827, + -13.511185531852291, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 31.879755903057827, + -16.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 31.879755903057827, + -19.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 31.879755903057827, + -22.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 31.879755903057827, + -25.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 31.879755903057827, + -28.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 31.879755903057827, + -31.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 31.879755903057827, + -34.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 31.879755903057827, + -37.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 31.879755903057827, + -40.51118553185229, + -4.782912149850888 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 31.879755903057827, + -40.51118553185229, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 30.379755903057827, + -43.10926174320561, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 28.879755903057827, + -45.70733795455892, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 27.379755903057827, + -48.30541416591224, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 25.879755903057827, + -50.903490377265555, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 24.379755903057827, + -53.50156658861887, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 22.879755903057827, + -56.09964279997219, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 21.379755903057827, + -58.6977190113255, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 19.879755903057827, + -61.29579522267882, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 18.379755903057827, + -63.893871434032135, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 16.879755903057827, + -66.49194764538545, + -4.782912149850888 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 16.879755903057827, + -66.49194764538545, + -4.782912149850888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 16.879755903057827, + -69.49194764538545, + -4.782912149850888 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-20-9_692458743/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-20-9_692458743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70d523a0e32441a7c812d154a97abd5caf424f0e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-20-9_692458743/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 960.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 957.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 954.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 951.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 948.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 945.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 942.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 939.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 936.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 933.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 930.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 927.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 924.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 921.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 918.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 915.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 915.8373711479525, + -262.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 913.2392949365992, + -263.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 910.6412187252458, + -265.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 908.0431425138925, + -266.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 905.4450663025391, + -268.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 902.8469900911857, + -269.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 900.2489138798323, + -271.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 897.650837668479, + -272.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 895.0527614571256, + -274.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 892.4546852457722, + -275.9217104591476, + 1.282709364460116 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 892.4546852457722, + -275.9217104591476, + 1.282709364460116 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 892.4546852457722, + -275.9217104591476, + 1.282709364460116 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 892.4546852457722, + -275.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 892.4546852457722, + -278.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 892.4546852457722, + -281.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 892.4546852457722, + -284.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 892.4546852457722, + -287.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 892.4546852457722, + -290.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 892.4546852457722, + -293.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 892.4546852457722, + -296.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 892.4546852457722, + -299.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 892.4546852457722, + -302.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 892.4546852457722, + -305.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 892.4546852457722, + -308.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 892.4546852457722, + -311.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 892.4546852457722, + -314.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 892.4546852457722, + -317.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 892.4546852457722, + -320.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 892.4546852457722, + -323.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 892.4546852457722, + -326.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 892.4546852457722, + -329.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 892.4546852457722, + -332.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 892.4546852457722, + -335.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 892.4546852457722, + -338.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 892.4546852457722, + -341.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 892.4546852457722, + -344.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 892.4546852457722, + -347.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 892.4546852457722, + -350.9217104591476, + 1.282709364460116 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 892.4546852457722, + -350.9217104591476, + 1.282709364460116 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 892.4546852457722, + -350.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 889.8566090344189, + -352.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 887.2585328230655, + -353.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 884.6604566117121, + -355.4217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 882.0623804003587, + -356.9217104591476, + 1.282709364460116 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 882.0623804003587, + -356.9217104591476, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 880.5623804003587, + -359.51978667050093, + 1.282709364460116 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 879.0623804003587, + -362.11786288185425, + 1.282709364460116 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-23-2_1254749154/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-23-2_1254749154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..562526ff5ec879fd1363101a2d8cfc743f6a1763 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-23-2_1254749154/pose.jsonl @@ -0,0 +1,1120 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -50.587843290743734, + -661.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -47.98976707939042, + -660.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -45.3916908680371, + -658.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -42.793614656683786, + -657.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -40.19553844533047, + -655.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -37.597462233977154, + -654.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -34.99938602262384, + -652.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -32.40130981127052, + -651.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -29.803233599917206, + -649.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -27.20515738856389, + -648.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -24.607081177210574, + -646.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -22.009004965857258, + -645.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -19.410928754503942, + -643.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -16.812852543150626, + -642.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -14.21477633179731, + -640.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -11.616700120443994, + -639.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -9.018623909090678, + -637.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -6.420547697737362, + -636.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -3.822471486384046, + -634.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1.22439527503073, + -633.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.373680936322586, + -631.5915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.971757147675902, + -630.0915487029122, + 1.8182590764407944 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3.971757147675902, + -630.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 5.471757147675902, + -627.4934724915588, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 6.971757147675902, + -624.8953962802054, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 8.471757147675902, + -622.2973200688521, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 9.971757147675902, + -619.6992438574987, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 11.471757147675902, + -617.1011676461453, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 12.971757147675902, + -614.5030914347919, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 14.471757147675902, + -611.9050152234386, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 15.971757147675902, + -609.3069390120852, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 17.471757147675902, + -606.7088628007318, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 18.971757147675902, + -604.1107865893784, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 20.471757147675902, + -601.5127103780251, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 21.971757147675902, + -598.9146341666717, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 23.471757147675902, + -596.3165579553183, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 24.971757147675902, + -593.718481743965, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 26.471757147675902, + -591.1204055326116, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 27.971757147675902, + -588.5223293212582, + 1.8182590764407944 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 27.971757147675902, + -588.5223293212582, + 1.8182590764407944 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 27.971757147675902, + -588.5223293212582, + 1.8182590764407944 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 27.971757147675902, + -588.5223293212582, + 1.8182590764407944 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 27.971757147675902, + -588.5223293212582, + 1.8182590764407944 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 27.971757147675902, + -588.5223293212582, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 29.471757147675902, + -591.1204055326116, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 30.971757147675902, + -593.718481743965, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 32.4717571476759, + -596.3165579553183, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 33.9717571476759, + -598.9146341666717, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 35.4717571476759, + -601.5127103780251, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 36.9717571476759, + -604.1107865893784, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 38.4717571476759, + -606.7088628007318, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 39.9717571476759, + -609.3069390120852, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 41.4717571476759, + -611.9050152234386, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 42.9717571476759, + -614.5030914347919, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 44.4717571476759, + -617.1011676461453, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 45.9717571476759, + -619.6992438574987, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 47.4717571476759, + -622.2973200688521, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 48.9717571476759, + -624.8953962802054, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 50.4717571476759, + -627.4934724915588, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 51.9717571476759, + -630.0915487029122, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 53.4717571476759, + -632.6896249142656, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 54.9717571476759, + -635.2877011256189, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 56.4717571476759, + -637.8857773369723, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 57.9717571476759, + -640.4838535483257, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 59.4717571476759, + -643.081929759679, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 60.9717571476759, + -645.6800059710324, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 62.4717571476759, + -648.2780821823858, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 63.9717571476759, + -650.8761583937392, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 65.4717571476759, + -653.4742346050925, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 66.9717571476759, + -656.0723108164459, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 68.4717571476759, + -658.6703870277993, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 69.9717571476759, + -661.2684632391527, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 71.4717571476759, + -663.866539450506, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 72.9717571476759, + -666.4646156618594, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 74.4717571476759, + -669.0626918732128, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 75.9717571476759, + -671.6607680845661, + 1.8182590764407944 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 75.9717571476759, + -671.6607680845661, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 75.9717571476759, + -674.6607680845661, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 75.9717571476759, + -677.6607680845661, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 75.9717571476759, + -680.6607680845661, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 75.9717571476759, + -683.6607680845661, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 75.9717571476759, + -686.6607680845661, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 75.9717571476759, + -689.6607680845661, + 1.8182590764407944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 75.9717571476759, + -692.6607680845661, + 1.8182590764407944 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-24-11_2042010569/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-24-11_2042010569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2daa5beb37c9bd2bd5d725dada45898382f2716e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-24-11_2042010569/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1502.0601119258774, + 144.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1499.462035714524, + 143.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1496.8639595031707, + 141.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1494.2658832918173, + 140.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1491.667807080464, + 138.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1489.0697308691106, + 137.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1486.4716546577572, + 135.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1483.8735784464038, + 134.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1481.2755022350505, + 132.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1478.677426023697, + 131.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1476.0793498123437, + 129.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1473.4812736009903, + 128.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1470.883197389637, + 126.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1468.2851211782836, + 125.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1465.6870449669302, + 123.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1463.0889687555768, + 122.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1460.4908925442235, + 120.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1457.89281633287, + 119.1840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1455.2947401215167, + 117.6840609128318, + -3.332585067041447 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1455.2947401215167, + 117.6840609128318, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1453.7947401215167, + 115.08598470147848, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1452.2947401215167, + 112.48790849012516, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1450.7947401215167, + 109.88983227877185, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1449.2947401215167, + 107.29175606741853, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1447.7947401215167, + 104.69367985606522, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1446.2947401215167, + 102.0956036447119, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1444.7947401215167, + 99.49752743335858, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1443.2947401215167, + 96.89945122200527, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1441.7947401215167, + 94.30137501065195, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1440.2947401215167, + 91.70329879929864, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1438.7947401215167, + 89.10522258794532, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1437.2947401215167, + 86.507146376592, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1435.7947401215167, + 83.90907016523869, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1434.2947401215167, + 81.31099395388537, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1432.7947401215167, + 78.71291774253206, + -3.332585067041447 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1432.7947401215167, + 78.71291774253206, + -3.332585067041447 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1432.7947401215167, + 78.71291774253206, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1434.2947401215167, + 76.11484153117874, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1435.7947401215167, + 73.51676531982542, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1437.2947401215167, + 70.91868910847211, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1438.7947401215167, + 68.32061289711879, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1440.2947401215167, + 65.72253668576548, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1441.7947401215167, + 63.12446047441216, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1443.2947401215167, + 60.526384263058844, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1444.7947401215167, + 57.92830805170553, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1446.2947401215167, + 55.33023184035221, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1447.7947401215167, + 52.732155628998896, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1449.2947401215167, + 50.13407941764558, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1450.7947401215167, + 47.536003206292264, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1452.2947401215167, + 44.93792699493895, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1453.7947401215167, + 42.33985078358563, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1455.2947401215167, + 39.741774572232316, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1456.7947401215167, + 37.143698360879, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1458.2947401215167, + 34.545622149525684, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1459.7947401215167, + 31.947545938172368, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1461.2947401215167, + 29.349469726819052, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1462.7947401215167, + 26.751393515465736, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1464.2947401215167, + 24.15331730411242, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1465.7947401215167, + 21.555241092759104, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1467.2947401215167, + 18.957164881405788, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1468.7947401215167, + 16.359088670052472, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1470.2947401215167, + 13.761012458699156, + -3.332585067041447 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1470.2947401215167, + 13.761012458699156, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1472.89281633287, + 12.261012458699156, + -3.332585067041447 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1475.4908925442235, + 10.761012458699156, + -3.332585067041447 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-24-45_695258232/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-24-45_695258232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..127df18f4a2b70198744d3fef5d2b609c56bccac --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-24-45_695258232/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -39.098287875748134, + -821.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -39.098287875748134, + -818.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.098287875748134, + -815.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -39.098287875748134, + -812.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -39.098287875748134, + -809.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -39.098287875748134, + -806.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.098287875748134, + -803.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -39.098287875748134, + -800.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -39.098287875748134, + -797.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -39.098287875748134, + -794.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -39.098287875748134, + -791.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -39.098287875748134, + -788.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -39.098287875748134, + -785.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -39.098287875748134, + -782.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -39.098287875748134, + -779.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -39.098287875748134, + -776.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -39.098287875748134, + -773.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -39.098287875748134, + -770.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -39.098287875748134, + -767.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -39.098287875748134, + -764.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -39.098287875748134, + -761.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -39.098287875748134, + -758.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -39.098287875748134, + -755.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -39.098287875748134, + -752.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -39.098287875748134, + -749.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -39.098287875748134, + -746.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -39.098287875748134, + -743.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -39.098287875748134, + -740.4128637795479, + 3.4527885051073444 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -39.098287875748134, + -740.4128637795479, + 3.4527885051073444 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -39.098287875748134, + -740.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -36.50021166439482, + -738.9128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -33.9021354530415, + -737.4128637795479, + 3.4527885051073444 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -33.9021354530415, + -737.4128637795479, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -32.4021354530415, + -734.8147875681946, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -30.902135453041502, + -732.2167113568412, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -29.402135453041502, + -729.6186351454878, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -27.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -27.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -27.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -27.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -24.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -21.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -18.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -15.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -12.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -9.902135453041502, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -6.9021354530415024, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -3.9021354530415024, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -0.9021354530415024, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2.0978645469584976, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 5.0978645469584976, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 8.097864546958498, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 11.097864546958498, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 14.097864546958498, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 17.097864546958498, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 20.097864546958498, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 20.097864546958498, + -727.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 22.695940758311814, + -725.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 25.29401696966513, + -724.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 27.892093181018446, + -722.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 30.49016939237176, + -721.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 33.08824560372508, + -719.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 35.686321815078394, + -718.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 38.28439802643171, + -716.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 40.882474237785026, + -715.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 43.48055044913834, + -713.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 46.07862666049166, + -712.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 48.676702871844974, + -710.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 51.27477908319829, + -709.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 53.872855294551606, + -707.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 56.47093150590492, + -706.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 59.06900771725824, + -704.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 61.667083928611554, + -703.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 64.26516013996488, + -701.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982977 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 66.86323635131819, + -700.0205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 69.46131256267151, + -698.5205589341344, + 3.4527885051073444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 72.05938877402482, + -697.0205589341344, + 3.4527885051073444 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-25-52_93155710/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-25-52_93155710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fcfa836e2784581bcbbba7a66bc58eba4c08be4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-25-52_93155710/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1391.437854631757, + 81.53635612007368, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1392.937854631757, + 78.93827990872036, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1394.437854631757, + 76.34020369736704, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1395.937854631757, + 73.74212748601373, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1397.437854631757, + 71.14405127466041, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1398.937854631757, + 68.5459750633071, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1400.437854631757, + 65.94789885195378, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1401.937854631757, + 63.349822640600465, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1403.437854631757, + 60.75174642924715, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1404.937854631757, + 58.15367021789383, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1406.437854631757, + 55.55559400654052, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1407.937854631757, + 52.9575177951872, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1409.437854631757, + 50.359441583833885, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1410.937854631757, + 47.76136537248057, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1412.437854631757, + 45.16328916112725, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1413.937854631757, + 42.56521294977394, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1415.437854631757, + 39.96713673842062, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1416.937854631757, + 37.369060527067305, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1418.437854631757, + 34.77098431571399, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1419.937854631757, + 32.17290810436067, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1421.437854631757, + 29.574831893007357, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1422.937854631757, + 26.97675568165404, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1424.437854631757, + 24.378679470300725, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1425.937854631757, + 21.78060325894741, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1427.437854631757, + 19.182527047594093, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1428.937854631757, + 16.584450836240777, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1430.437854631757, + 13.98637462488746, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1431.937854631757, + 11.388298413534145, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1433.437854631757, + 8.790222202180829, + -4.141188764578151 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1433.437854631757, + 8.790222202180829, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1436.0359308431105, + 7.2902222021808285, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1438.6340070544638, + 5.7902222021808285, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1441.2320832658172, + 4.2902222021808285, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1443.8301594771706, + 2.7902222021808285, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1446.428235688524, + 1.2902222021808287, + -4.141188764578151 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1446.428235688524, + 1.2902222021808287, + -4.141188764578151 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1446.428235688524, + 1.2902222021808287, + -4.141188764578151 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1446.428235688524, + 1.2902222021808287, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1446.428235688524, + -1.7097777978191713, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1446.428235688524, + -4.7097777978191715, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1446.428235688524, + -7.7097777978191715, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1446.428235688524, + -10.709777797819171, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1446.428235688524, + -13.709777797819171, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1446.428235688524, + -16.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1446.428235688524, + -19.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1446.428235688524, + -22.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1446.428235688524, + -25.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1446.428235688524, + -28.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1446.428235688524, + -31.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1446.428235688524, + -34.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1446.428235688524, + -37.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1446.428235688524, + -40.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1446.428235688524, + -43.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1446.428235688524, + -46.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1446.428235688524, + -49.70977779781917, + -4.141188764578151 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1446.428235688524, + -49.70977779781917, + -4.141188764578151 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1446.428235688524, + -49.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1443.8301594771706, + -51.20977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1441.2320832658172, + -52.70977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1438.6340070544638, + -54.20977779781917, + -4.141188764578151 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1438.6340070544638, + -54.20977779781917, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1437.1340070544638, + -56.80785400917249, + -4.141188764578151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1435.6340070544638, + -59.4059302205258, + -4.141188764578151 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-26-57_1111800030/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-26-57_1111800030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e792ddfde8064eca8f5b8513cb40a31e7dd83333 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-26-57_1111800030/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1404.075152265684, + -68.10817106493846, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1405.575152265684, + -65.51009485358514, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1407.075152265684, + -62.91201864223183, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1408.575152265684, + -60.31394243087851, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1410.075152265684, + -57.715866219525196, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1411.575152265684, + -55.11779000817188, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1413.075152265684, + -52.519713796818564, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1414.575152265684, + -49.92163758546525, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1416.075152265684, + -47.32356137411193, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1417.575152265684, + -44.725485162758616, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1419.075152265684, + -42.1274089514053, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1420.575152265684, + -39.529332740051984, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1422.075152265684, + -36.93125652869867, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1423.575152265684, + -34.33318031734535, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1425.075152265684, + -31.735104105992036, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1426.575152265684, + -29.13702789463872, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1428.075152265684, + -26.538951683285404, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1429.575152265684, + -23.940875471932088, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1431.075152265684, + -21.342799260578772, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1432.575152265684, + -18.744723049225456, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1434.075152265684, + -16.14664683787214, + -4.872270722895153 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1434.075152265684, + -16.14664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1436.6732284770374, + -14.64664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1439.2713046883907, + -13.14664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1441.869380899744, + -11.64664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1444.4674571110975, + -10.14664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1447.0655333224508, + -8.64664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1449.6636095338042, + -7.14664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1452.2616857451576, + -5.64664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1454.859761956511, + -4.14664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1457.4578381678643, + -2.64664683787214, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1460.0559143792177, + -1.1466468378721404, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1462.653990590571, + 0.3533531621278594, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1465.2520668019245, + 1.8533531621278592, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1467.8501430132778, + 3.353353162127859, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1470.4482192246312, + 4.853353162127859, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1473.0462954359846, + 6.353353162127859, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1475.644371647338, + 7.853353162127859, + -4.872270722895153 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1475.644371647338, + 7.853353162127859, + -4.872270722895153 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1475.644371647338, + 7.853353162127859, + -4.872270722895153 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1475.644371647338, + 7.853353162127859, + -4.872270722895153 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1475.644371647338, + 7.853353162127859, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1474.144371647338, + 10.451429373481176, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1472.644371647338, + 13.049505584834492, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1471.144371647338, + 15.647581796187808, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1469.644371647338, + 18.245658007541124, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1468.144371647338, + 20.84373421889444, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1466.644371647338, + 23.441810430247756, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1465.144371647338, + 26.039886641601072, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1463.644371647338, + 28.637962852954388, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1462.144371647338, + 31.236039064307704, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1460.644371647338, + 33.83411527566102, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1459.144371647338, + 36.432191487014336, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1457.644371647338, + 39.03026769836765, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1456.144371647338, + 41.62834390972097, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1454.644371647338, + 44.226420121074284, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1453.144371647338, + 46.8244963324276, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1451.644371647338, + 49.422572543780916, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1450.144371647338, + 52.02064875513423, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1448.644371647338, + 54.61872496648755, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1447.144371647338, + 57.216801177840864, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1445.644371647338, + 59.81487738919418, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1444.144371647338, + 62.412953600547496, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1442.644371647338, + 65.01102981190081, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1441.144371647338, + 67.60910602325413, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1439.644371647338, + 70.20718223460744, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1438.144371647338, + 72.80525844596076, + -4.872270722895153 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1438.144371647338, + 72.80525844596076, + -4.872270722895153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1435.5462954359846, + 74.30525844596076, + -4.872270722895153 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-27-33_1984498433/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-27-33_1984498433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bb4da200b305696fe893990020e730495e66793 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-27-33_1984498433/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 64.88131647784826, + -94.58308988011969, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 63.38131647784826, + -91.98501366876637, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 61.88131647784826, + -89.38693745741305, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 60.38131647784826, + -86.78886124605974, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 58.88131647784826, + -84.19078503470642, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 57.38131647784826, + -81.5927088233531, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 55.88131647784826, + -78.99463261199979, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 54.38131647784826, + -76.39655640064647, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 52.88131647784826, + -73.79848018929316, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 51.38131647784826, + -71.20040397793984, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 49.88131647784826, + -68.60232776658653, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 48.38131647784826, + -66.00425155523321, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 46.88131647784826, + -63.406175343879895, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.38131647784826, + -60.80809913252658, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 43.88131647784826, + -58.21002292117326, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 42.38131647784826, + -55.61194670981995, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 40.88131647784826, + -53.01387049846663, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 39.38131647784826, + -50.415794287113314, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 37.88131647784826, + -47.81771807576, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 36.38131647784826, + -45.21964186440668, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 34.88131647784826, + -42.621565653053366, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 33.38131647784826, + -40.02348944170005, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 31.88131647784826, + -37.425413230346734, + 2.4910611807478045 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 31.88131647784826, + -37.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 31.88131647784826, + -34.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 31.88131647784826, + -31.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 31.88131647784826, + -28.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 31.88131647784826, + -25.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 31.88131647784826, + -22.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 31.88131647784826, + -19.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 31.88131647784826, + -16.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 31.88131647784826, + -13.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 31.88131647784826, + -10.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 31.88131647784826, + -7.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 31.88131647784826, + -4.425413230346734, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 31.88131647784826, + -1.4254132303467344, + 2.4910611807478045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 31.88131647784826, + -1.4254132303467344, + 2.4910611807478045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 31.88131647784826, + -1.4254132303467344, + 2.4910611807478045 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 31.88131647784826, + -1.4254132303467344, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 34.479392689201575, + 0.07458676965326538, + 2.4910611807478045 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 34.479392689201575, + 0.07458676965326538, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 35.979392689201575, + 2.6726629810065816, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 37.479392689201575, + 5.270739192359898, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 38.979392689201575, + 7.868815403713214, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 40.479392689201575, + 10.46689161506653, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 41.979392689201575, + 13.064967826419846, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 43.479392689201575, + 15.663044037773162, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 44.979392689201575, + 18.261120249126478, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 46.479392689201575, + 20.859196460479794, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 47.979392689201575, + 23.45727267183311, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 49.479392689201575, + 26.055348883186426, + 2.4910611807478045 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 49.479392689201575, + 26.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 52.07746890055489, + 27.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 54.67554511190821, + 29.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 57.27362132326152, + 30.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 59.87169753461484, + 32.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 62.469773745968155, + 33.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 65.06784995732147, + 35.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 67.66592616867479, + 36.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 70.2640023800281, + 38.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 72.86207859138142, + 39.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 75.46015480273473, + 41.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 78.05823101408805, + 42.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 80.65630722544137, + 44.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 83.25438343679468, + 45.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 85.852459648148, + 47.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 88.45053585950131, + 48.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 91.04861207085463, + 50.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 93.64668828220795, + 51.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 96.24476449356126, + 53.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 98.84284070491458, + 54.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 101.4409169162679, + 56.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 104.03899312762121, + 57.555348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 106.63706933897453, + 59.055348883186426, + 2.4910611807478045 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 109.23514555032784, + 60.555348883186426, + 2.4910611807478045 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-3-12_482417719/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-3-12_482417719/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69a318ef6aad4c891125df3bba36bf44caca87d5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-3-12_482417719/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1436.5388246931343, + -199.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1436.5388246931343, + -196.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1436.5388246931343, + -193.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1436.5388246931343, + -190.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1436.5388246931343, + -187.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1436.5388246931343, + -184.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1436.5388246931343, + -181.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1436.5388246931343, + -178.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1436.5388246931343, + -175.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1436.5388246931343, + -172.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1436.5388246931343, + -169.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1436.5388246931343, + -166.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1436.5388246931343, + -163.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1436.5388246931343, + -160.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1436.5388246931343, + -157.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1436.5388246931343, + -154.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1436.5388246931343, + -151.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1436.5388246931343, + -148.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1436.5388246931343, + -145.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1436.5388246931343, + -142.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1436.5388246931343, + -139.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1436.5388246931343, + -136.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1436.5388246931343, + -133.48057987857115, + -4.862748019424648 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1436.5388246931343, + -133.48057987857115, + -4.862748019424648 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1436.5388246931343, + -133.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1433.940748481781, + -131.98057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1431.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1431.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1431.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1431.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1431.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983085 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1431.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "turn right", + "value": 30, + "yaw": 9.769962616701378e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1431.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1434.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1437.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1440.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1443.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1446.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1449.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1452.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1455.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1458.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1461.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1464.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1464.3426722704276, + -130.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1466.940748481781, + -128.98057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1469.5388246931343, + -127.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1472.1369009044877, + -125.98057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1474.734977115841, + -124.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1477.3330533271944, + -122.98057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1479.9311295385478, + -121.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1482.5292057499012, + -119.98057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1485.1272819612545, + -118.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1487.725358172608, + -116.98057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1490.3234343839613, + -115.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1492.9215105953147, + -113.98057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1495.519586806668, + -112.48057987857115, + -4.862748019424648 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1495.519586806668, + -112.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1498.519586806668, + -112.48057987857115, + -4.862748019424648 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1501.519586806668, + -112.48057987857115, + -4.862748019424648 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-3-42_1163384280/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-3-42_1163384280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f59b03e34297a757026f780fab3a4056b368a459 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-3-42_1163384280/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.9636207679471, + -513.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 390.9636207679471, + -510.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.9636207679471, + -507.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.9636207679471, + -504.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 390.9636207679471, + -501.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.9636207679471, + -498.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 390.9636207679471, + -495.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 390.9636207679471, + -492.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 390.9636207679471, + -489.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 390.9636207679471, + -486.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 390.9636207679471, + -483.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 390.9636207679471, + -480.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 390.9636207679471, + -477.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 390.9636207679471, + -474.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 390.9636207679471, + -471.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 390.9636207679471, + -468.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 390.9636207679471, + -465.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 390.9636207679471, + -462.6262718764143, + 2.365664762083357 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 390.9636207679471, + -462.6262718764143, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 392.4636207679471, + -460.028195665061, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 393.9636207679471, + -457.4301194537077, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 395.4636207679471, + -454.83204324235436, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 396.9636207679471, + -452.23396703100104, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 398.4636207679471, + -449.6358908196477, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 399.9636207679471, + -447.0378146082944, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 401.4636207679471, + -444.4397383969411, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 402.9636207679471, + -441.8416621855878, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 404.4636207679471, + -439.24358597423446, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 405.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 405.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 405.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 405.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 408.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 411.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 414.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 417.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 420.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 423.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 426.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 426.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 426.9636207679471, + -436.64550976288115, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 428.4636207679471, + -434.04743355152783, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 429.9636207679471, + -431.4493573401745, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 431.4636207679471, + -428.8512811288212, + 2.365664762083357 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 431.4636207679471, + -428.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 434.0616969793004, + -427.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 436.6597731906537, + -425.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 439.257849402007, + -424.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 441.85592561336034, + -422.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 444.45400182471366, + -421.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 447.052078036067, + -419.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 449.6501542474203, + -418.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 452.2482304587736, + -416.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 454.8463066701269, + -415.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 457.44438288148024, + -413.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 460.04245909283355, + -412.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 462.64053530418687, + -410.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 465.2386115155402, + -409.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 467.8366877268935, + -407.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 470.4347639382468, + -406.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 473.03284014960013, + -404.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 475.63091636095345, + -403.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 478.22899257230677, + -401.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 480.8270687836601, + -400.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 483.4251449950134, + -398.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 486.0232212063667, + -397.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 488.62129741772003, + -395.8512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 491.21937362907335, + -394.3512811288212, + 2.365664762083357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 493.81744984042666, + -392.8512811288212, + 2.365664762083357 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-32-1_1759007339/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-32-1_1759007339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5448069afa2113245901db6f8832d81cdb0c4af5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-32-1_1759007339/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 103.3982779623427, + -499.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 100.80020175098939, + -498.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 98.20212553963607, + -496.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 95.60404932828276, + -495.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 93.00597311692944, + -493.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 90.40789690557612, + -492.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 87.80982069422281, + -490.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 85.21174448286949, + -489.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 82.61366827151618, + -487.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 80.01559206016286, + -486.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 77.41751584880954, + -484.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 74.81943963745623, + -483.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 72.22136342610291, + -481.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.6232872147496, + -480.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 67.02521100339628, + -478.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 64.42713479204296, + -477.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 61.82905858068965, + -475.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 59.23098236933633, + -474.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 56.632906157983015, + -472.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 54.0348299466297, + -471.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 51.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 51.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 48.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 45.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 39.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 36.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 33.43675373527638, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 30.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 27.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 24.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 21.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 18.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 15.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 12.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 9.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 6.436753735276383, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 0.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 0.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 0.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 0.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 0.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 0.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 0.4367537352763833, + -469.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3.0348299466296993, + -468.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 5.632906157983015, + -466.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 8.230982369336331, + -465.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 10.829058580689647, + -463.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 13.427134792042963, + -462.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 16.02521100339628, + -460.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 18.623287214749595, + -459.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 21.22136342610291, + -457.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 23.819439637456227, + -456.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 26.417515848809543, + -454.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 29.01559206016286, + -453.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 31.613668271516175, + -451.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 34.21174448286949, + -450.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 36.80982069422281, + -448.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 39.40789690557612, + -447.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 42.00597311692944, + -445.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 44.604049328282755, + -444.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 47.20212553963607, + -442.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 49.80020175098939, + -441.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 52.3982779623427, + -439.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 54.99635417369602, + -438.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 57.594430385049336, + -436.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 60.19250659640265, + -435.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 62.79058280775597, + -433.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 65.38865901910928, + -432.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 67.9867352304626, + -430.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 70.58481144181592, + -429.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 73.18288765316923, + -427.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 75.78096386452255, + -426.3751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 78.37904007587586, + -424.8751361440206, + 0.07398984409601894 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 78.37904007587586, + -424.8751361440206, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 79.87904007587586, + -422.27705993266727, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 81.37904007587586, + -419.67898372131395, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 82.87904007587586, + -417.08090750996064, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 84.37904007587586, + -414.4828312986073, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 85.87904007587586, + -411.884755087254, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 87.37904007587586, + -409.2866788759007, + 0.07398984409601894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 88.87904007587586, + -406.6886026645474, + 0.07398984409601894 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-34-56_359147515/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-34-56_359147515/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98ffbfafed3328b8fb51e41fe22a72d22084e4e1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-34-56_359147515/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 362.97144329033864, + -388.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 362.97144329033864, + -385.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 362.97144329033864, + -382.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 362.97144329033864, + -379.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 362.97144329033864, + -376.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 362.97144329033864, + -373.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 362.97144329033864, + -370.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 362.97144329033864, + -367.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 362.97144329033864, + -364.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 362.97144329033864, + -361.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 362.97144329033864, + -358.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 362.97144329033864, + -355.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 362.97144329033864, + -352.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 362.97144329033864, + -349.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.97144329033864, + -346.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 362.97144329033864, + -343.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 362.97144329033864, + -340.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 362.97144329033864, + -337.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 362.97144329033864, + -334.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 362.97144329033864, + -331.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 362.97144329033864, + -328.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 362.97144329033864, + -325.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 362.97144329033864, + -322.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 362.97144329033864, + -319.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 362.97144329033864, + -316.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 362.97144329033864, + -313.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 362.97144329033864, + -310.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 362.97144329033864, + -307.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 362.97144329033864, + -304.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 362.97144329033864, + -301.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 362.97144329033864, + -298.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 362.97144329033864, + -295.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 362.97144329033864, + -292.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 362.97144329033864, + -289.75306081774283, + -4.57715477535306 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 362.97144329033864, + -289.75306081774283, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 364.47144329033864, + -287.1549846063895, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 365.97144329033864, + -284.5569083950362, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 367.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 367.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 367.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 367.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 370.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 373.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 376.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 379.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 382.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 385.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 388.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 391.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 394.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 397.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 400.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 403.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 406.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 409.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 412.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 412.47144329033864, + -281.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 415.06951950169196, + -283.4588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 417.6675957130453, + -284.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 420.2656719243986, + -286.4588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 422.8637481357519, + -287.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 425.4618243471052, + -289.4588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 428.05990055845854, + -290.9588321836829, + -4.57715477535306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 430.65797676981185, + -292.4588321836829, + -4.57715477535306 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-36-17_1987519915/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-36-17_1987519915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4aeb6c86dca6adc65410b23bc2a828c8f050305 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-36-17_1987519915/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1061.886474913861, + -311.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1061.886474913861, + -308.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1061.886474913861, + -305.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1061.886474913861, + -302.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1061.886474913861, + -299.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1061.886474913861, + -296.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1061.886474913861, + -293.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1061.886474913861, + -290.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1061.886474913861, + -287.81493011556205, + 4.906099035175009 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1061.886474913861, + -287.81493011556205, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1063.386474913861, + -285.21685390420873, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1064.886474913861, + -282.6187776928554, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1066.386474913861, + -280.0207014815021, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1067.886474913861, + -277.4226252701488, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1069.386474913861, + -274.82454905879547, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1070.886474913861, + -272.22647284744215, + 4.906099035175009 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1070.886474913861, + -272.22647284744215, + 4.906099035175009 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1070.886474913861, + -272.22647284744215, + 4.906099035175009 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1070.886474913861, + -272.22647284744215, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1073.886474913861, + -272.22647284744215, + 4.906099035175009 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1073.886474913861, + -272.22647284744215, + 4.906099035175009 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1073.886474913861, + -272.22647284744215, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1075.386474913861, + -269.62839663608884, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1076.886474913861, + -267.0303204247355, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1078.386474913861, + -264.4322442133822, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1079.886474913861, + -261.8341680020289, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1081.386474913861, + -259.2360917906756, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1082.886474913861, + -256.63801557932226, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1084.386474913861, + -254.03993936796894, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1085.886474913861, + -251.44186315661563, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1087.386474913861, + -248.8437869452623, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1088.886474913861, + -246.245710733909, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1090.386474913861, + -243.64763452255568, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1091.886474913861, + -241.04955831120236, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1093.386474913861, + -238.45148209984904, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1094.886474913861, + -235.85340588849573, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1096.386474913861, + -233.2553296771424, + 4.906099035175009 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1096.386474913861, + -233.2553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1098.9845511252145, + -231.7553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1101.5826273365678, + -230.2553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1104.1807035479212, + -228.7553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1106.7787797592746, + -227.2553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1109.376855970628, + -225.7553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1111.9749321819813, + -224.2553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1114.5730083933347, + -222.7553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1117.171084604688, + -221.2553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1119.7691608160414, + -219.7553296771424, + 4.906099035175009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1122.3672370273948, + -218.2553296771424, + 4.906099035175009 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-38-11_415675634/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-38-11_415675634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94e89ea92679bf6c4638c98e0c189231a068db38 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-38-11_415675634/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 856.9996777032773, + -182.4476043357871, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 858.4996777032773, + -185.04568054714042, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 859.9996777032773, + -187.64375675849374, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 861.4996777032773, + -190.24183296984705, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 862.9996777032773, + -192.83990918120037, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 864.4996777032773, + -195.43798539255368, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 865.9996777032773, + -198.036061603907, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 867.4996777032773, + -200.63413781526032, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 868.9996777032773, + -203.23221402661363, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 870.4996777032773, + -205.83029023796695, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 871.9996777032773, + -208.42836644932027, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 873.4996777032773, + -211.02644266067358, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 874.9996777032773, + -213.6245188720269, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 876.4996777032773, + -216.2225950833802, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 877.9996777032773, + -218.82067129473353, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 879.4996777032773, + -221.41874750608685, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 880.9996777032773, + -224.01682371744016, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 882.4996777032773, + -226.61489992879348, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 883.9996777032773, + -229.2129761401468, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 885.4996777032773, + -231.8110523515001, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 886.9996777032773, + -234.40912856285343, + -0.7687614814500936 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 886.9996777032773, + -234.40912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 889.5977539146306, + -235.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 892.195830125984, + -237.40912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 894.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 894.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 897.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 900.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 903.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 906.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 909.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 912.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 915.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 918.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 921.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 924.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 927.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 930.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 933.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 936.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 939.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 942.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 945.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 948.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 951.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 954.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 957.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 960.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 960.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 960.7939063373374, + -238.90912856285343, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 962.2939063373374, + -241.50720477420674, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 963.7939063373374, + -244.10528098556006, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 965.2939063373374, + -246.70335719691337, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 966.7939063373374, + -249.3014334082667, + -0.7687614814500936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 968.2939063373374, + -251.89950961962, + -0.7687614814500936 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-38-47_67874133/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-38-47_67874133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26dcd7c3c56480d647007a54e46bb0e3a5615c7b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-38-47_67874133/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -153.9692477270409, + -44.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -153.9692477270409, + -47.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -153.9692477270409, + -50.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -153.9692477270409, + -53.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -153.9692477270409, + -56.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -153.9692477270409, + -59.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -153.9692477270409, + -62.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -153.9692477270409, + -65.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -153.9692477270409, + -68.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -153.9692477270409, + -71.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -153.9692477270409, + -74.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -153.9692477270409, + -77.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -153.9692477270409, + -80.20418703197157, + 3.300798694418349 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -153.9692477270409, + -80.20418703197157, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -152.4692477270409, + -82.80226324332489, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -150.9692477270409, + -85.4003394546782, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -149.4692477270409, + -87.99841566603152, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -147.9692477270409, + -90.59649187738484, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -146.4692477270409, + -93.19456808873815, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -144.9692477270409, + -95.79264430009147, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -143.4692477270409, + -98.39072051144478, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -141.9692477270409, + -100.9887967227981, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -140.4692477270409, + -103.58687293415142, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -138.9692477270409, + -106.18494914550473, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -137.4692477270409, + -108.78302535685805, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -135.9692477270409, + -111.38110156821136, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -134.4692477270409, + -113.97917777956468, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -132.9692477270409, + -116.577253990918, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -131.4692477270409, + -119.17533020227131, + 3.300798694418349 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -131.4692477270409, + -119.17533020227131, + 3.300798694418349 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -131.4692477270409, + -119.17533020227131, + 3.300798694418349 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -131.4692477270409, + -119.17533020227131, + 3.300798694418349 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -131.4692477270409, + -119.17533020227131, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -134.06732393839422, + -120.67533020227131, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -136.66540014974754, + -122.17533020227131, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -139.26347636110086, + -123.67533020227131, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -141.86155257245417, + -125.17533020227131, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -144.4596287838075, + -126.67533020227131, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -147.0577049951608, + -128.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -149.65578120651412, + -129.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -152.25385741786744, + -131.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -154.85193362922075, + -132.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -157.45000984057407, + -134.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -160.04808605192738, + -135.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.6461622632807, + -137.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -165.24423847463402, + -138.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -167.84231468598733, + -140.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -170.44039089734065, + -141.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -173.03846710869396, + -143.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -175.63654332004728, + -144.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -178.2346195314006, + -146.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -180.8326957427539, + -147.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -183.43077195410723, + -149.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -186.02884816546054, + -150.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -188.62692437681386, + -152.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -191.22500058816718, + -153.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -193.8230767995205, + -155.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -196.4211530108738, + -156.6753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -199.01922922222712, + -158.1753302022713, + 3.300798694418349 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -201.61730543358044, + -159.6753302022713, + 3.300798694418349 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-39-17_240854387/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-39-17_240854387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d87b71b534b33b6b8f2d599dfadd84788cc44097 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-39-17_240854387/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 954.7734455957043, + -380.4366713069419, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 953.2734455957043, + -377.8385950955886, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 951.7734455957043, + -375.24051888423526, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 950.2734455957043, + -372.64244267288194, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 948.7734455957043, + -370.0443664615286, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 947.2734455957043, + -367.4462902501753, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 945.7734455957043, + -364.848214038822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 944.2734455957043, + -362.2501378274687, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 942.7734455957043, + -359.65206161611536, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 941.2734455957043, + -357.05398540476205, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 939.7734455957043, + -354.45590919340873, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 938.2734455957043, + -351.8578329820554, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 936.7734455957043, + -349.2597567707021, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 935.2734455957043, + -346.6616805593488, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 933.7734455957043, + -344.06360434799547, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 932.2734455957043, + -341.46552813664215, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 930.7734455957043, + -338.86745192528883, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 929.2734455957043, + -336.2693757139355, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 927.7734455957043, + -333.6712995025822, + 3.297651731955172 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 927.7734455957043, + -333.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 927.7734455957043, + -330.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 927.7734455957043, + -327.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 927.7734455957043, + -324.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 927.7734455957043, + -321.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 927.7734455957043, + -318.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 927.7734455957043, + -315.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 927.7734455957043, + -312.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 927.7734455957043, + -309.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 927.7734455957043, + -306.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 927.7734455957043, + -303.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 927.7734455957043, + -300.6712995025822, + 3.297651731955172 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 927.7734455957043, + -300.6712995025822, + 3.297651731955172 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 927.7734455957043, + -300.6712995025822, + 3.297651731955172 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 927.7734455957043, + -300.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 930.3715218070577, + -299.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 932.969598018411, + -297.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 935.5676742297644, + -296.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 938.1657504411178, + -294.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 940.7638266524712, + -293.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 943.3619028638245, + -291.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 945.9599790751779, + -290.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 948.5580552865313, + -288.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 951.1561314978846, + -287.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 953.754207709238, + -285.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 956.3522839205914, + -284.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 958.9503601319448, + -282.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 961.5484363432981, + -281.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 964.1465125546515, + -279.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 966.7445887660049, + -278.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 969.3426649773583, + -276.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 971.9407411887116, + -275.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 974.538817400065, + -273.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 977.1368936114184, + -272.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 979.7349698227717, + -270.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 982.3330460341251, + -269.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 984.9311222454785, + -267.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 987.5291984568319, + -266.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 990.1272746681852, + -264.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 992.7253508795386, + -263.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 995.323427090892, + -261.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 997.9215033022454, + -260.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1000.5195795135987, + -258.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1003.1176557249521, + -257.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1005.7157319363055, + -255.6712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1008.3138081476588, + -254.1712995025822, + 3.297651731955172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1010.9118843590122, + -252.6712995025822, + 3.297651731955172 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-39-48_1561812722/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-39-48_1561812722/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e2b486718fca8d053b86f0a97755f24d370f3fe --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-39-48_1561812722/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -370.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -367.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -364.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -361.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -358.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -355.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -352.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -349.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -346.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -343.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -340.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -337.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -334.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -334.5612757045108, + 85.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -331.9631994931575, + 84.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -329.3651232818042, + 82.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -326.76704707045087, + 81.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -324.16897085909756, + 79.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -321.57089464774424, + 78.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -318.9728184363909, + 76.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -316.3747422250376, + 75.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -313.7766660136843, + 73.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -311.178589802331, + 72.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -308.58051359097766, + 70.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -305.98243737962434, + 69.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -303.384361168271, + 67.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -300.7862849569177, + 66.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -298.1882087455644, + 64.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -295.5901325342111, + 63.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -292.99205632285776, + 61.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -290.39398011150445, + 60.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -287.79590390015113, + 58.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -285.1978276887978, + 57.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -282.5997514774445, + 55.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -280.0016752660912, + 54.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -277.40359905473787, + 52.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -274.80552284338455, + 51.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -272.20744663203124, + 49.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -269.6093704206779, + 48.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -267.0112942093246, + 46.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -264.4132179979713, + 45.43486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -261.81514178661797, + 43.93486227397325, + 3.1565037497864825 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -261.81514178661797, + 43.93486227397325, + 3.1565037497864825 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -261.81514178661797, + 43.93486227397325, + 3.1565037497864825 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -261.81514178661797, + 43.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -261.81514178661797, + 40.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -261.81514178661797, + 37.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -261.81514178661797, + 34.93486227397325, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -261.81514178661797, + 31.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -261.81514178661797, + 28.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -261.81514178661797, + 25.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -261.81514178661797, + 22.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -261.81514178661797, + 19.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -261.81514178661797, + 16.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -261.81514178661797, + 13.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -261.81514178661797, + 10.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -261.81514178661797, + 7.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -261.81514178661797, + 4.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -261.81514178661797, + 1.934862273973252, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -261.81514178661797, + -1.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -261.81514178661797, + -4.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -261.81514178661797, + -7.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -261.81514178661797, + -10.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -261.81514178661797, + -13.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -261.81514178661797, + -16.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -261.81514178661797, + -19.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -261.81514178661797, + -22.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -261.81514178661797, + -25.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -261.81514178661797, + -28.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -261.81514178661797, + -31.065137726026748, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -261.81514178661797, + -34.06513772602675, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -261.81514178661797, + -37.06513772602675, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -261.81514178661797, + -40.06513772602675, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -261.81514178661797, + -43.06513772602675, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -261.81514178661797, + -46.06513772602675, + 3.1565037497864825 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -261.81514178661797, + -46.06513772602675, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -260.31514178661797, + -48.663213937380064, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -258.81514178661797, + -51.26129014873338, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -257.31514178661797, + -53.859366360086696, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -255.81514178661797, + -56.45744257144001, + 3.1565037497864825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -254.31514178661797, + -59.05551878279333, + 3.1565037497864825 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-40-25_1322623287/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-40-25_1322623287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..282ca1301157d7736018492fc84a29ee7d1eaf96 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-40-25_1322623287/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 364.49934027980566, + -45.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 361.90126406845235, + -46.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 359.30318785709903, + -48.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 356.7051116457457, + -49.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 354.1070354343924, + -51.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 351.5089592230391, + -52.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.91088301168577, + -54.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 346.31280680033245, + -55.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 343.71473058897914, + -57.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 341.1166543776258, + -58.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 338.5185781662725, + -60.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 335.9205019549192, + -61.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 333.3224257435659, + -63.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 330.72434953221256, + -64.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 328.12627332085924, + -66.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 325.5281971095059, + -67.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 322.9301208981526, + -69.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 320.3320446867993, + -70.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 317.733968475446, + -72.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 315.13589226409266, + -73.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 312.53781605273934, + -75.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 309.93973984138603, + -76.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 307.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 307.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 304.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 301.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 298.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 295.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 292.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 295.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 298.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 301.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 304.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 307.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 310.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 313.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 316.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 319.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 322.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 322.3416636300327, + -78.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 324.93973984138603, + -79.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 327.53781605273934, + -81.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 330.13589226409266, + -82.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 332.733968475446, + -84.25821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 335.3320446867993, + -85.75821158463941, + 4.513503024167653 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 337.9301208981526, + -87.25821158463941, + 4.513503024167653 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-40-51_454806773/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-40-51_454806773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71f2150be7e2c94267bd89854e9d568e9fd27424 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-40-51_454806773/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 767.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 770.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 773.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 776.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 779.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 782.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 785.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 788.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 791.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 794.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 797.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 800.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 803.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 806.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 809.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 812.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 812.3250500389859, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 814.9231262503392, + -303.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 817.5212024616926, + -301.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 820.119278673046, + -300.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 822.7173548843994, + -298.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 825.3154310957527, + -297.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 827.9135073071061, + -295.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 830.5115835184595, + -294.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 833.1096597298128, + -292.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 835.7077359411662, + -291.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 838.3058121525196, + -289.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 840.903888363873, + -288.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 843.5019645752263, + -286.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 846.1000407865797, + -285.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 848.6981169979331, + -283.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 851.2961932092865, + -282.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 853.8942694206398, + -280.8777960751671, + 3.6243602800630814 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 853.8942694206398, + -280.8777960751671, + 3.6243602800630814 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 853.8942694206398, + -280.8777960751671, + 3.6243602800630814 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 853.8942694206398, + -280.8777960751671, + 3.6243602800630814 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 853.8942694206398, + -280.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 853.8942694206398, + -283.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 853.8942694206398, + -286.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 853.8942694206398, + -289.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 853.8942694206398, + -292.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 853.8942694206398, + -295.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 853.8942694206398, + -298.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 853.8942694206398, + -301.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 853.8942694206398, + -304.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 853.8942694206398, + -307.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 853.8942694206398, + -310.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 853.8942694206398, + -313.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 853.8942694206398, + -316.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 853.8942694206398, + -319.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 853.8942694206398, + -322.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 853.8942694206398, + -325.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 853.8942694206398, + -328.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 853.8942694206398, + -331.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 853.8942694206398, + -334.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 853.8942694206398, + -337.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 853.8942694206398, + -340.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 853.8942694206398, + -343.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 853.8942694206398, + -346.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 853.8942694206398, + -349.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 853.8942694206398, + -352.8777960751671, + 3.6243602800630814 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 853.8942694206398, + -352.8777960751671, + 3.6243602800630814 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 853.8942694206398, + -352.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 856.4923456319932, + -354.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 859.0904218433466, + -355.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 861.6884980547, + -357.3777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 864.2865742660533, + -358.8777960751671, + 3.6243602800630814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 866.8846504774067, + -360.3777960751671, + 3.6243602800630814 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-41-26_1456339643/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-41-26_1456339643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4738f4b07b53b838211a58bb6dbee29ea24aac74 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-41-26_1456339643/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1461.798127592269, + -110.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1459.2000513809157, + -108.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1456.6019751695624, + -107.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1454.003898958209, + -105.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1451.4058227468556, + -104.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1448.8077465355022, + -102.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1446.2096703241489, + -101.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1443.6115941127955, + -99.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1441.0135179014421, + -98.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1438.4154416900888, + -96.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1435.8173654787354, + -95.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1433.219289267382, + -93.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1430.6212130560286, + -92.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1428.0231368446753, + -90.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1425.425060633322, + -89.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1422.8269844219685, + -87.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1420.2289082106151, + -86.34845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1417.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1417.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1414.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1408.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1405.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1402.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1402.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1402.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1402.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1402.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1402.6308319992618, + -84.84845183984191, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1404.1308319992618, + -82.2503756284886, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1405.6308319992618, + -79.65229941713528, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1407.1308319992618, + -77.05422320578197, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1408.6308319992618, + -74.45614699442865, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1410.1308319992618, + -71.85807078307533, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1411.6308319992618, + -69.25999457172202, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1413.1308319992618, + -66.6619183603687, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1414.6308319992618, + -64.06384214901539, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1416.1308319992618, + -61.46576593766207, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1417.6308319992618, + -58.867689726308754, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1419.1308319992618, + -56.26961351495544, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1420.6308319992618, + -53.67153730360212, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1422.1308319992618, + -51.073461092248806, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1423.6308319992618, + -48.47538488089549, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1425.1308319992618, + -45.877308669542174, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1426.6308319992618, + -43.27923245818886, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1428.1308319992618, + -40.68115624683554, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1429.6308319992618, + -38.083080035482226, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1431.1308319992618, + -35.48500382412891, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1432.6308319992618, + -32.886927612775594, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1434.1308319992618, + -30.288851401422278, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1435.6308319992618, + -27.690775190068962, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1437.1308319992618, + -25.092698978715646, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1438.6308319992618, + -22.49462276736233, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1440.1308319992618, + -19.896546556009014, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1441.6308319992618, + -17.298470344655698, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1443.1308319992618, + -14.700394133302382, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1444.6308319992618, + -12.102317921949066, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1446.1308319992618, + -9.50424171059575, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1447.6308319992618, + -6.906165499242434, + 2.489047825864029 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1447.6308319992618, + -6.906165499242434, + 2.489047825864029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1447.6308319992618, + -3.9061654992424337, + 2.489047825864029 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-43-24_1560890244/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-43-24_1560890244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7a4607e564293f7075f2a5c504ebd12f9b5c534 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-43-24_1560890244/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 354.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 357.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 360.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 363.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 366.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 369.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 372.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 375.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 378.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 381.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 384.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 387.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 390.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 393.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 396.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 396.26743931224473, + -274.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 398.86551552359805, + -275.6218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 401.46359173495136, + -277.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 404.0616679463047, + -278.6218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 406.659744157658, + -280.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 409.2578203690113, + -281.6218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 411.85589658036463, + -283.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 414.45397279171794, + -284.6218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 417.05204900307126, + -286.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 419.6501252144246, + -287.6218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 422.2482014257779, + -289.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 424.8462776371312, + -290.6218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 427.4443538484845, + -292.1218764999188, + -4.1799521751784114 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 427.4443538484845, + -292.1218764999188, + -4.1799521751784114 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 427.4443538484845, + -292.1218764999188, + -4.1799521751784114 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 427.4443538484845, + -292.1218764999188, + -4.1799521751784114 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 427.4443538484845, + -292.1218764999188, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 428.9443538484845, + -289.5238002885655, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 430.4443538484845, + -286.9257240772122, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 431.9443538484845, + -284.32764786585886, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 433.4443538484845, + -281.72957165450555, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 434.9443538484845, + -279.13149544315223, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 436.4443538484845, + -276.5334192317989, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 437.9443538484845, + -273.9353430204456, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 439.4443538484845, + -271.3372668090923, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 440.9443538484845, + -268.73919059773897, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 442.4443538484845, + -266.14111438638565, + -4.1799521751784114 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 442.4443538484845, + -266.14111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 445.04243005983784, + -264.64111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 447.64050627119116, + -263.14111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 450.2385824825445, + -261.64111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 452.8366586938978, + -260.14111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 455.4347349052511, + -258.64111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 458.0328111166044, + -257.14111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 460.63088732795774, + -255.64111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 463.22896353931105, + -254.14111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 465.82703975066437, + -252.64111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 468.4251159620177, + -251.14111438638565, + -4.1799521751784114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 471.023192173371, + -249.64111438638565, + -4.1799521751784114 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-43-51_657103124/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-43-51_657103124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa72097445b6dfa9e47713b8bdc5c4df806eaedb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-43-51_657103124/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 389.72733927315096, + -513.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.72733927315096, + -510.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 389.72733927315096, + -507.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 389.72733927315096, + -504.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.72733927315096, + -501.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 389.72733927315096, + -498.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 389.72733927315096, + -495.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 389.72733927315096, + -492.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.72733927315096, + -489.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 389.72733927315096, + -486.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 389.72733927315096, + -483.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 389.72733927315096, + -480.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 389.72733927315096, + -477.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 389.72733927315096, + -474.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 389.72733927315096, + -471.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 389.72733927315096, + -468.9813135982324, + -3.1502508369730546 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 389.72733927315096, + -468.9813135982324, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 391.22733927315096, + -466.3832373868791, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 392.72733927315096, + -463.7851611755258, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 394.22733927315096, + -461.18708496417247, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 395.72733927315096, + -458.58900875281915, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 397.22733927315096, + -455.99093254146584, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 398.72733927315096, + -453.3928563301125, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 400.22733927315096, + -450.7947801187592, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 401.72733927315096, + -448.1967039074059, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 403.22733927315096, + -445.5986276960526, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 404.72733927315096, + -443.00055148469926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 406.22733927315096, + -440.40247527334594, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 407.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 407.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 407.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 407.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 410.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 413.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 416.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 416.72733927315096, + -437.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 419.3254154845043, + -436.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 421.9234916958576, + -434.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 424.5215679072109, + -433.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 427.1196441185642, + -431.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 429.71772032991754, + -430.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 432.31579654127086, + -428.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 434.9138727526242, + -427.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 437.5119489639775, + -425.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 440.1100251753308, + -424.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 442.7081013866841, + -422.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 445.30617759803744, + -421.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 447.90425380939075, + -419.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 450.50233002074407, + -418.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 453.1004062320974, + -416.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 455.6984824434507, + -415.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 458.296558654804, + -413.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 460.89463486615733, + -412.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 463.49271107751065, + -410.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 466.09078728886396, + -409.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 468.6888635002173, + -407.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 471.2869397115706, + -406.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 473.8850159229239, + -404.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 476.48309213427723, + -403.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 479.08116834563054, + -401.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 481.67924455698386, + -400.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 484.2773207683372, + -398.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 486.8753969796905, + -397.3043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 489.4734731910438, + -395.8043990619926, + -3.1502508369730546 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 492.0715494023971, + -394.3043990619926, + -3.1502508369730546 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-46-14_1684677418/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-46-14_1684677418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1d7da71143d67d21fd42e6d74dc5dbd6ed290f9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-46-14_1684677418/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 353.87524732018755, + -16.58353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 351.27717110883424, + -18.08353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 348.6790948974809, + -19.58353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 346.0810186861276, + -21.08353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 343.4829424747743, + -22.58353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 340.884866263421, + -24.08353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 338.28679005206766, + -25.58353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 335.68871384071434, + -27.08353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 333.090637629361, + -28.58353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 330.4925614180077, + -30.08353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 327.8944852066544, + -31.58353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 325.2964089953011, + -33.08353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 322.69833278394776, + -34.58353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 320.10025657259445, + -36.08353753777071, + -2.956679726252953 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 320.10025657259445, + -36.08353753777071, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 318.60025657259445, + -38.681613749124026, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 317.10025657259445, + -41.27968996047734, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 315.60025657259445, + -43.87776617183066, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 314.10025657259445, + -46.47584238318397, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 312.60025657259445, + -49.07391859453729, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 311.10025657259445, + -51.671994805890606, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 309.60025657259445, + -54.27007101724392, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 308.10025657259445, + -56.86814722859724, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 306.60025657259445, + -59.466223439950554, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 305.10025657259445, + -62.06429965130387, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 303.60025657259445, + -64.66237586265719, + -2.956679726252953 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 303.60025657259445, + -64.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 301.00218036124113, + -66.16237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 298.4041041498878, + -67.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 295.8060279385345, + -69.16237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 293.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 293.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 293.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 293.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 299.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 302.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 305.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 308.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 311.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 314.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 314.2079517271812, + -70.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 316.8060279385345, + -72.16237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 319.4041041498878, + -73.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 322.00218036124113, + -75.16237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 324.60025657259445, + -76.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 327.19833278394776, + -78.16237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 329.7964089953011, + -79.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 332.3944852066544, + -81.16237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 334.9925614180077, + -82.66237586265719, + -2.956679726252953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 337.590637629361, + -84.16237586265719, + -2.956679726252953 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-46-41_1845636353/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-46-41_1845636353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0200a65df3d2320c982d34b854422e916521e49 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-46-41_1845636353/pose.jsonl @@ -0,0 +1,1081 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1306.200286532311, + -328.2621599343255, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1304.700286532311, + -325.6640837229722, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1303.200286532311, + -323.06600751161886, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1301.700286532311, + -320.46793130026555, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1300.200286532311, + -317.86985508891223, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1298.700286532311, + -315.2717788775589, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1297.200286532311, + -312.6737026662056, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1295.700286532311, + -310.0756264548523, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1294.200286532311, + -307.47755024349897, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1292.700286532311, + -304.87947403214565, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1291.200286532311, + -302.28139782079234, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1289.700286532311, + -299.683321609439, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1288.200286532311, + -297.0852453980857, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1286.700286532311, + -294.4871691867324, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1285.200286532311, + -291.88909297537907, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1283.700286532311, + -289.29101676402576, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1282.200286532311, + -286.69294055267244, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1280.700286532311, + -284.0948643413191, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1279.200286532311, + -281.4967881299658, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1277.700286532311, + -278.8987119186125, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1276.200286532311, + -276.3006357072592, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1274.700286532311, + -273.70255949590586, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1273.200286532311, + -271.10448328455254, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1271.700286532311, + -268.5064070731992, + 4.878533443750175 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1271.700286532311, + -268.5064070731992, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1271.700286532311, + -265.5064070731992, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1271.700286532311, + -262.5064070731992, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1271.700286532311, + -259.5064070731992, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1271.700286532311, + -256.5064070731992, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1271.700286532311, + -253.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1271.700286532311, + -250.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1271.700286532311, + -247.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1271.700286532311, + -244.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1271.700286532311, + -241.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1271.700286532311, + -238.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1271.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1271.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1271.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1271.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1271.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1274.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1277.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1280.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1283.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1286.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1289.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1292.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1295.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1298.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1301.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1304.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1307.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1310.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1313.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1316.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1319.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1319.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1319.700286532311, + -235.50640707319923, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1321.200286532311, + -232.9083308618459, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1322.700286532311, + -230.3102546504926, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1324.200286532311, + -227.71217843913928, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1325.700286532311, + -225.11410222778596, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1327.200286532311, + -222.51602601643265, + 4.878533443750175 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1327.200286532311, + -222.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1329.7983627436645, + -221.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1332.3964389550179, + -219.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1334.9945151663712, + -218.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1337.5925913777246, + -216.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1340.190667589078, + -215.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1342.7887438004313, + -213.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1345.3868200117847, + -212.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1347.984896223138, + -210.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1350.5829724344915, + -209.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1353.1810486458448, + -207.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1355.7791248571982, + -206.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1358.3772010685516, + -204.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1360.975277279905, + -203.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1363.5733534912583, + -201.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1366.1714297026117, + -200.01602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1368.769505913965, + -198.51602601643265, + 4.878533443750175 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1371.3675821253184, + -197.01602601643265, + 4.878533443750175 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-48-4_819485269/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-48-4_819485269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cddf20160bf13cfe850ff5900955cd20e34c4c36 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-48-4_819485269/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1048.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1051.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1054.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1057.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1060.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1063.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1066.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1069.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1072.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1075.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1078.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1078.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1078.866964314586, + -167.40292071454326, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1080.366964314586, + -170.00099692589657, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1081.866964314586, + -172.5990731372499, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1083.366964314586, + -175.1971493486032, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1084.866964314586, + -177.79522555995652, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1086.366964314586, + -180.39330177130984, + -0.2634011415825013 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1086.366964314586, + -180.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1088.9650405259395, + -181.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1091.5631167372928, + -183.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1094.1611929486462, + -184.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1096.7592691599996, + -186.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1099.357345371353, + -187.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1101.9554215827063, + -189.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1104.5534977940597, + -190.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1107.151574005413, + -192.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1109.7496502167664, + -193.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1112.3477264281198, + -195.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1114.9458026394732, + -196.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1117.5438788508266, + -198.39330177130984, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1117.5438788508266, + -198.39330177130984, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1117.5438788508266, + -198.39330177130984, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1117.5438788508266, + -198.39330177130984, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1117.5438788508266, + -198.39330177130984, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1117.5438788508266, + -198.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1114.9458026394732, + -199.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1112.3477264281198, + -201.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1109.7496502167664, + -202.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1107.151574005413, + -204.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1104.5534977940597, + -205.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1101.9554215827063, + -207.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1099.357345371353, + -208.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1096.7592691599996, + -210.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1094.1611929486462, + -211.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1091.5631167372928, + -213.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1088.9650405259395, + -214.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1086.366964314586, + -216.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1083.7688881032327, + -217.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1081.1708118918793, + -219.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1078.572735680526, + -220.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1075.9746594691726, + -222.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1073.3765832578192, + -223.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1070.7785070464658, + -225.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1068.1804308351125, + -226.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1065.582354623759, + -228.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1062.9842784124057, + -229.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1060.3862022010524, + -231.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1057.788125989699, + -232.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1055.1900497783456, + -234.39330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1052.5919735669922, + -235.89330177130984, + -0.2634011415825013 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1052.5919735669922, + -235.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1049.5919735669922, + -235.89330177130984, + -0.2634011415825013 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1046.5919735669922, + -235.89330177130984, + -0.2634011415825013 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-49-57_1835342733/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-49-57_1835342733/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebb7eca6c0472cfa81e90089156f0f63bfdddbf5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-49-57_1835342733/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 907.4859405901298, + -475.56926890584293, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 908.9859405901298, + -472.9711926944896, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 910.4859405901298, + -470.3731164831363, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 911.9859405901298, + -467.775040271783, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 913.4859405901298, + -465.17696406042967, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 914.9859405901298, + -462.57888784907635, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 916.4859405901298, + -459.98081163772304, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 917.9859405901298, + -457.3827354263697, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 919.4859405901298, + -454.7846592150164, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 920.9859405901298, + -452.1865830036631, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 922.4859405901298, + -449.5885067923098, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 923.9859405901298, + -446.99043058095646, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 925.4859405901298, + -444.39235436960314, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 926.9859405901298, + -441.7942781582498, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 928.4859405901298, + -439.1962019468965, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 929.9859405901298, + -436.5981257355432, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 931.4859405901298, + -434.0000495241899, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 932.9859405901298, + -431.40197331283656, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 934.4859405901298, + -428.80389710148324, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 935.9859405901298, + -426.2058208901299, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 937.4859405901298, + -423.6077446787766, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 938.9859405901298, + -421.0096684674233, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 940.4859405901298, + -418.41159225607, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 941.9859405901298, + -415.81351604471666, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 943.4859405901298, + -413.21543983336335, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 944.9859405901298, + -410.61736362201003, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 946.4859405901298, + -408.0192874106567, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 947.9859405901298, + -405.4212111993034, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 949.4859405901298, + -402.8231349879501, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 950.9859405901298, + -400.22505877659677, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 952.4859405901298, + -397.62698256524345, + -0.26884792026856097 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 952.4859405901298, + -397.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 955.0840168014831, + -396.12698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 957.6820930128365, + -394.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 960.2801692241899, + -393.12698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 962.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 962.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 962.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 962.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 962.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 962.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 962.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 959.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 956.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 953.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 950.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 947.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 944.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 941.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 938.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 935.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 932.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 929.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 926.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 923.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 920.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 917.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 914.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 911.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 908.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 905.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 902.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 899.8782454355432, + -391.62698256524345, + -0.26884792026856097 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-5-28_505593010/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-5-28_505593010/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fb4ca932ab54178d4b9fb358e2f135400a5cd29 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-5-28_505593010/pose.jsonl @@ -0,0 +1,1029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 43.1646140122945, + -340.6376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 40.566537800941184, + -342.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 37.96846158958787, + -343.6376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 35.37038537823455, + -345.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 32.772309166881236, + -346.6376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 30.17423295552792, + -348.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 27.576156744174604, + -349.6376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 24.978080532821288, + -351.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 22.380004321467972, + -352.6376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 19.781928110114656, + -354.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 17.18385189876134, + -355.6376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 14.585775687408024, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 14.585775687408024, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 11.585775687408024, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 8.585775687408024, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 5.585775687408024, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2.5857756874080238, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -0.41422431259197623, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -3.4142243125919762, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -6.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -9.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -12.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -15.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -18.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -21.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -24.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -27.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -30.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -30.414224312591976, + -357.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -33.01230052394529, + -358.6376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -35.61037673529861, + -360.1376365242263, + -0.9233004230222868 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -35.61037673529861, + -360.1376365242263, + -0.9233004230222868 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -35.61037673529861, + -360.1376365242263, + -0.9233004230222868 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -35.61037673529861, + -360.1376365242263, + -0.9233004230222868 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -35.61037673529861, + -360.1376365242263, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -34.11037673529861, + -362.7357127355796, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -32.61037673529861, + -365.33378894693294, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -31.11037673529861, + -367.93186515828626, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -29.61037673529861, + -370.5299413696396, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -28.11037673529861, + -373.1280175809929, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -26.61037673529861, + -375.7260937923462, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -25.11037673529861, + -378.3241700036995, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -23.61037673529861, + -380.92224621505284, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -22.11037673529861, + -383.52032242640615, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -20.61037673529861, + -386.11839863775947, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -19.11037673529861, + -388.7164748491128, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -17.61037673529861, + -391.3145510604661, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -16.11037673529861, + -393.9126272718194, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -14.610376735298608, + -396.51070348317273, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -13.110376735298608, + -399.10877969452605, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -11.610376735298608, + -401.70685590587937, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -10.110376735298608, + -404.3049321172327, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -8.610376735298608, + -406.903008328586, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -7.110376735298608, + -409.5010845399393, + -0.9233004230222868 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -7.110376735298608, + -409.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -7.110376735298608, + -412.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -7.110376735298608, + -415.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -7.110376735298608, + -418.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -7.110376735298608, + -421.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -7.110376735298608, + -424.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -7.110376735298608, + -427.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -7.110376735298608, + -430.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -7.110376735298608, + -433.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -7.110376735298608, + -436.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -7.110376735298608, + -439.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -7.110376735298608, + -442.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -7.110376735298608, + -445.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -7.110376735298608, + -448.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -7.110376735298608, + -451.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -7.110376735298608, + -454.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -7.110376735298608, + -457.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -7.110376735298608, + -460.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -7.110376735298608, + -463.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -7.110376735298608, + -466.5010845399393, + -0.9233004230222868 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -7.110376735298608, + -466.5010845399393, + -0.9233004230222868 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -7.110376735298608, + -466.5010845399393, + -0.9233004230222868 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -4.512300523945292, + -468.0010845399393, + -0.9233004230222868 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-51-44_2107654819/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-51-44_2107654819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..764c51c3d2094116a0375b72d13862b6fe12f3b4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-51-44_2107654819/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1371.9520674953324, + -244.01931454470747, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1373.4520674953324, + -241.42123833335415, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1374.9520674953324, + -238.82316212200084, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1376.4520674953324, + -236.22508591064752, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1377.9520674953324, + -233.6270096992942, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1379.4520674953324, + -231.0289334879409, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1380.9520674953324, + -228.43085727658757, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1382.4520674953324, + -225.83278106523426, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1383.9520674953324, + -223.23470485388094, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1385.4520674953324, + -220.63662864252763, + -0.46680971432185103 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1385.4520674953324, + -220.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1388.0501437066857, + -219.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1390.648219918039, + -217.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1393.2462961293925, + -216.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1395.8443723407458, + -214.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1398.4424485520992, + -213.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1401.0405247634526, + -211.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1403.638600974806, + -210.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1406.2366771861593, + -208.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1408.8347533975127, + -207.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.432829608866, + -205.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1414.0309058202195, + -204.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1416.6289820315728, + -202.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1419.2270582429262, + -201.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1421.8251344542796, + -199.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1424.423210665633, + -198.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1427.0212868769863, + -196.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1429.6193630883397, + -195.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1432.217439299693, + -193.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1434.8155155110464, + -192.13662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1437.4135917223998, + -190.63662864252763, + -0.46680971432185103 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1437.4135917223998, + -190.63662864252763, + -0.46680971432185103 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1437.4135917223998, + -190.63662864252763, + -0.46680971432185103 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1437.4135917223998, + -190.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1437.4135917223998, + -187.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1437.4135917223998, + -184.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1437.4135917223998, + -181.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1437.4135917223998, + -178.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1437.4135917223998, + -175.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1437.4135917223998, + -172.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1437.4135917223998, + -169.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1437.4135917223998, + -166.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1437.4135917223998, + -163.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1437.4135917223998, + -160.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1437.4135917223998, + -157.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1437.4135917223998, + -154.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1437.4135917223998, + -151.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1437.4135917223998, + -148.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1437.4135917223998, + -145.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1437.4135917223998, + -142.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1437.4135917223998, + -139.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1437.4135917223998, + -136.63662864252763, + -0.46680971432185103 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1437.4135917223998, + -136.63662864252763, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1435.9135917223998, + -134.0385524311743, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1434.4135917223998, + -131.440476219821, + -0.46680971432185103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1432.9135917223998, + -128.84240000846768, + -0.46680971432185103 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-51-9_2002992734/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-51-9_2002992734/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f91c14d5574c30ef5c57a0a0faf2c6094a3aa20 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-51-9_2002992734/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 429.15252306649984, + -340.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 431.75059927785315, + -341.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 434.34867548920647, + -343.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 436.9467517005598, + -344.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 439.5448279119131, + -346.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 442.1429041232664, + -347.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 444.74098033461974, + -349.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 447.33905654597305, + -350.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 449.93713275732637, + -352.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 452.5352089686797, + -353.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 455.133285180033, + -355.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 457.7313613913863, + -356.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 460.32943760273963, + -358.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 462.92751381409295, + -359.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 465.52559002544626, + -361.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 468.1236662367996, + -362.57531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 470.7217424481529, + -364.07531335911114, + 2.6633770212991177 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 470.7217424481529, + -364.07531335911114, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 472.2217424481529, + -366.67338957046445, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 473.7217424481529, + -369.27146578181777, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 475.2217424481529, + -371.8695419931711, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 476.7217424481529, + -374.4676182045244, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 478.2217424481529, + -377.0656944158777, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 479.7217424481529, + -379.66377062723103, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 481.2217424481529, + -382.26184683858435, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 482.7217424481529, + -384.85992304993766, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 484.2217424481529, + -387.457999261291, + 2.6633770212991177 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 484.2217424481529, + -387.457999261291, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 486.8198186595062, + -388.957999261291, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 489.4178948708595, + -390.457999261291, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 492.01597108221284, + -391.957999261291, + 2.6633770212991177 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 492.01597108221284, + -391.957999261291, + 2.6633770212991177 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 492.01597108221284, + -391.957999261291, + 2.6633770212991177 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 492.01597108221284, + -391.957999261291, + 2.6633770212991177 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 492.01597108221284, + -391.957999261291, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 490.51597108221284, + -394.5560754726443, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 489.01597108221284, + -397.1541516839976, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 487.51597108221284, + -399.7522278953509, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 486.01597108221284, + -402.35030410670424, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 484.51597108221284, + -404.94838031805756, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 483.01597108221284, + -407.5464565294109, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 481.51597108221284, + -410.1445327407642, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 480.01597108221284, + -412.7426089521175, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 478.51597108221284, + -415.3406851634708, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 477.01597108221284, + -417.93876137482414, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 475.51597108221284, + -420.53683758617746, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 474.01597108221284, + -423.13491379753077, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 472.51597108221284, + -425.7329900088841, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 471.01597108221284, + -428.3310662202374, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 469.51597108221284, + -430.9291424315907, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 468.01597108221284, + -433.52721864294404, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 466.51597108221284, + -436.12529485429735, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 465.01597108221284, + -438.72337106565067, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 463.51597108221284, + -441.321447277004, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 462.01597108221284, + -443.9195234883573, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 460.51597108221284, + -446.5175996997106, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 459.01597108221284, + -449.11567591106393, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 457.51597108221284, + -451.71375212241725, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 456.01597108221284, + -454.31182833377056, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 454.51597108221284, + -456.9099045451239, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 453.01597108221284, + -459.5079807564772, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 451.51597108221284, + -462.1060569678305, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 450.01597108221284, + -464.7041331791838, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 448.51597108221284, + -467.30220939053714, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 447.01597108221284, + -469.90028560189046, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 445.51597108221284, + -472.4983618132438, + 2.6633770212991177 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 445.51597108221284, + -472.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 445.51597108221284, + -475.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 445.51597108221284, + -478.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 445.51597108221284, + -481.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 445.51597108221284, + -484.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 445.51597108221284, + -487.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 445.51597108221284, + -490.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 445.51597108221284, + -493.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 445.51597108221284, + -496.4983618132438, + 2.6633770212991177 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 445.51597108221284, + -499.4983618132438, + 2.6633770212991177 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-52-11_1196774315/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-52-11_1196774315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4c91e72c7a9566b75a90b8170a1a20cb8865aa8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-52-11_1196774315/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 930.6448527808279, + -503.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 930.6448527808279, + -500.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 930.6448527808279, + -497.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 930.6448527808279, + -494.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 930.6448527808279, + -491.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 930.6448527808279, + -488.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 930.6448527808279, + -485.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 930.6448527808279, + -482.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 930.6448527808279, + -479.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 930.6448527808279, + -476.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 930.6448527808279, + -473.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 930.6448527808279, + -470.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 930.6448527808279, + -467.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 930.6448527808279, + -464.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 930.6448527808279, + -461.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 930.6448527808279, + -458.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 930.6448527808279, + -455.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 930.6448527808279, + -452.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 930.6448527808279, + -449.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 930.6448527808279, + -446.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 930.6448527808279, + -443.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 930.6448527808279, + -440.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 930.6448527808279, + -437.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 930.6448527808279, + -434.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 930.6448527808279, + -431.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 930.6448527808279, + -428.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 930.6448527808279, + -425.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 930.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 930.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 930.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 930.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 930.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 927.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 924.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 921.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 918.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 915.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 912.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 909.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 906.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 903.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 900.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 897.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 894.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 891.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 888.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 885.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 882.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 879.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 876.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 873.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 870.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 867.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 864.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 861.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 858.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 855.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 855.6448527808279, + -422.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 853.0467765694746, + -420.81475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 850.4487003581212, + -419.31475694539074, + -0.6151004129662354 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 847.8506241467678, + -417.81475694539074, + -0.6151004129662354 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-53-17_1947691087/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-53-17_1947691087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6f8b70f326bec07dab94daeebbf78cceddb4efa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-53-17_1947691087/pose.jsonl @@ -0,0 +1,964 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -16.282349239053957, + -390.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -16.282349239053957, + -393.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -16.282349239053957, + -396.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -16.282349239053957, + -399.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -16.282349239053957, + -402.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -16.282349239053957, + -405.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -16.282349239053957, + -408.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -16.282349239053957, + -411.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -16.282349239053957, + -414.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -16.282349239053957, + -417.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -16.282349239053957, + -420.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -16.282349239053957, + -423.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -16.282349239053957, + -426.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -16.282349239053957, + -429.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -16.282349239053957, + -432.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -16.282349239053957, + -435.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -16.282349239053957, + -438.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -16.282349239053957, + -441.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -16.282349239053957, + -444.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -16.282349239053957, + -447.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -16.282349239053957, + -450.0081929838082, + -2.0948512794843834 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -16.282349239053957, + -450.0081929838082, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -14.782349239053957, + -452.60626919516153, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -13.282349239053957, + -455.20434540651485, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -11.782349239053957, + -457.80242161786816, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -10.282349239053957, + -460.4004978292215, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -8.782349239053957, + -462.9985740405748, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -7.282349239053957, + -465.5966502519281, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -5.782349239053957, + -468.1947264632814, + -2.0948512794843834 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -5.782349239053957, + -468.1947264632814, + -2.0948512794843834 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -5.782349239053957, + -468.1947264632814, + -2.0948512794843834 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -5.782349239053957, + -468.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2.782349239053957, + -468.1947264632814, + -2.0948512794843834 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2.782349239053957, + -468.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -0.18427302770064102, + -466.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2.413803183652675, + -465.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 5.011879395005991, + -463.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 7.609955606359307, + -462.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 10.208031817712623, + -460.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 12.806108029065939, + -459.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 15.404184240419255, + -457.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 18.00226045177257, + -456.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 20.600336663125887, + -454.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 23.198412874479203, + -453.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 25.79648908583252, + -451.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 28.394565297185835, + -450.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 30.99264150853915, + -448.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 33.59071771989247, + -447.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 36.18879393124578, + -445.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 38.7868701425991, + -444.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 41.384946353952415, + -442.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 43.98302256530573, + -441.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 46.58109877665905, + -439.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 49.17917498801236, + -438.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 51.77725119936568, + -436.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 54.375327410718995, + -435.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 56.97340362207231, + -433.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 59.57147983342563, + -432.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 62.16955604477894, + -430.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 64.76763225613226, + -429.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 67.36570846748558, + -427.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 69.96378467883889, + -426.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 72.56186089019221, + -424.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 75.15993710154552, + -423.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 77.75801331289884, + -421.6947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 80.35608952425216, + -420.1947264632814, + -2.0948512794843834 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 80.35608952425216, + -420.1947264632814, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 81.85608952425216, + -417.5966502519281, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 83.35608952425216, + -414.9985740405748, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 84.85608952425216, + -412.4004978292215, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 86.35608952425216, + -409.80242161786816, + -2.0948512794843834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 87.85608952425216, + -407.20434540651485, + -2.0948512794843834 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-54-27_100669/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-54-27_100669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04c5bb217d73a87c436aebbe3b9bbad323aec9dc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-54-27_100669/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1475.3839572431157, + -79.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1475.3839572431157, + -76.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1475.3839572431157, + -73.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1475.3839572431157, + -70.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1475.3839572431157, + -67.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1475.3839572431157, + -64.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1475.3839572431157, + -61.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1475.3839572431157, + -58.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1475.3839572431157, + -55.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1475.3839572431157, + -52.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1475.3839572431157, + -49.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1475.3839572431157, + -46.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1475.3839572431157, + -43.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1475.3839572431157, + -40.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1475.3839572431157, + -37.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1475.3839572431157, + -34.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1475.3839572431157, + -31.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1475.3839572431157, + -28.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1475.3839572431157, + -25.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1475.3839572431157, + -22.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1475.3839572431157, + -19.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1475.3839572431157, + -16.00536031604456, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1475.3839572431157, + -13.005360316044559, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1475.3839572431157, + -10.005360316044559, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1475.3839572431157, + -7.005360316044559, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1475.3839572431157, + -4.005360316044559, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1475.3839572431157, + -1.005360316044559, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1475.3839572431157, + 1.994639683955441, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1475.3839572431157, + 4.994639683955441, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1475.3839572431157, + 7.994639683955441, + -2.8181654838843646 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1475.3839572431157, + 7.994639683955441, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1473.8839572431157, + 10.592715895308757, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1472.3839572431157, + 13.190792106662073, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1470.8839572431157, + 15.788868318015389, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1469.3839572431157, + 18.386944529368705, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1467.8839572431157, + 20.98502074072202, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1466.3839572431157, + 23.583096952075337, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1464.8839572431157, + 26.181173163428653, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1463.3839572431157, + 28.77924937478197, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1461.8839572431157, + 31.377325586135285, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1460.3839572431157, + 33.9754017974886, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1458.8839572431157, + 36.57347800884192, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1457.3839572431157, + 39.17155422019523, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1455.8839572431157, + 41.76963043154855, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1454.3839572431157, + 44.367706642901865, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1452.8839572431157, + 46.96578285425518, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1451.3839572431157, + 49.5638590656085, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1449.8839572431157, + 52.16193527696181, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1448.3839572431157, + 54.76001148831513, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1446.8839572431157, + 57.358087699668445, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1445.3839572431157, + 59.95616391102176, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1443.8839572431157, + 62.55424012237508, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1442.3839572431157, + 65.1523163337284, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1440.8839572431157, + 67.75039254508171, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1439.3839572431157, + 70.34846875643503, + -2.8181654838843646 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1439.3839572431157, + 70.34846875643503, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1436.7858810317623, + 71.84846875643503, + -2.8181654838843646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1434.187804820409, + 73.34846875643503, + -2.8181654838843646 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-56-2_67974802/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-56-2_67974802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bab0da0fd3131dc2882432f900aac32e201d9ab --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-56-2_67974802/pose.jsonl @@ -0,0 +1,1003 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 86.1202712778599, + 9.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 88.71834748921322, + 11.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.31642370056653, + 12.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 93.91449991191985, + 14.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.51257612327316, + 15.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 99.11065233462648, + 17.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 101.7087285459798, + 18.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 104.30680475733311, + 20.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 106.90488096868643, + 21.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 109.50295718003974, + 23.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 112.10103339139306, + 24.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 114.69910960274638, + 26.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 117.29718581409969, + 27.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 119.89526202545301, + 29.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 122.49333823680632, + 30.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 125.09141444815964, + 32.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 127.68949065951296, + 33.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 130.28756687086627, + 35.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 132.8856430822196, + 36.685343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 135.4837192935729, + 38.185343305157076, + -3.924381587756581 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 135.4837192935729, + 38.185343305157076, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 136.9837192935729, + 40.78341951651039, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 138.4837192935729, + 43.38149572786371, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 139.9837192935729, + 45.979571939217024, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 141.4837192935729, + 48.57764815057034, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 142.9837192935729, + 51.175724361923656, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 144.4837192935729, + 53.77380057327697, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 145.9837192935729, + 56.37187678463029, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 147.4837192935729, + 58.969952995983604, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 148.9837192935729, + 61.56802920733692, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 150.4837192935729, + 64.16610541869024, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 151.9837192935729, + 66.76418163004355, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 153.4837192935729, + 69.36225784139687, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 154.9837192935729, + 71.96033405275018, + -3.924381587756581 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 154.9837192935729, + 71.96033405275018, + -3.924381587756581 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 154.9837192935729, + 71.96033405275018, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 153.4837192935729, + 74.5584102641035, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 151.9837192935729, + 77.15648647545682, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 150.4837192935729, + 79.75456268681013, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 148.9837192935729, + 82.35263889816345, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 147.4837192935729, + 84.95071510951676, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 145.9837192935729, + 87.54879132087008, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 144.4837192935729, + 90.1468675322234, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 142.9837192935729, + 92.74494374357671, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 141.4837192935729, + 95.34301995493003, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 139.9837192935729, + 97.94109616628334, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 138.4837192935729, + 100.53917237763666, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 136.9837192935729, + 103.13724858898998, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 135.4837192935729, + 105.73532480034329, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 133.9837192935729, + 108.33340101169661, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 132.4837192935729, + 110.93147722304992, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 130.9837192935729, + 113.52955343440324, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 129.4837192935729, + 116.12762964575656, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 127.9837192935729, + 118.72570585710987, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 126.4837192935729, + 121.32378206846319, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 124.9837192935729, + 123.9218582798165, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 123.4837192935729, + 126.51993449116982, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 121.9837192935729, + 129.11801070252312, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 120.4837192935729, + 131.71608691387644, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 118.9837192935729, + 134.31416312522975, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 117.4837192935729, + 136.91223933658307, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 115.9837192935729, + 139.5103155479364, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 114.4837192935729, + 142.1083917592897, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 112.9837192935729, + 144.70646797064302, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 111.4837192935729, + 147.30454418199633, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 109.9837192935729, + 149.90262039334965, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 108.4837192935729, + 152.50069660470297, + -3.924381587756581 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 108.4837192935729, + 152.50069660470297, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 108.4837192935729, + 155.50069660470297, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 108.4837192935729, + 158.50069660470297, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 108.4837192935729, + 161.50069660470297, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 108.4837192935729, + 164.50069660470297, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 108.4837192935729, + 167.50069660470297, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 108.4837192935729, + 170.50069660470297, + -3.924381587756581 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 108.4837192935729, + 173.50069660470297, + -3.924381587756581 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-57-55_1390598089/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-57-55_1390598089/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2620a9db9d3718502cded7db6d82d9a4ce6e3ec --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-57-55_1390598089/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1662.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1659.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1656.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1653.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1650.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1647.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1644.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1641.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1638.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1635.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1632.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1629.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1626.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1623.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1620.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1617.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1614.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1611.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1608.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1605.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1602.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1599.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1596.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1593.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1593.8182967830614, + -111.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1591.220220571708, + -109.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1588.6221443603547, + -108.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1586.0240681490013, + -106.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1583.425991937648, + -105.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1580.8279157262946, + -103.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1578.2298395149412, + -102.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1575.6317633035878, + -100.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1573.0336870922345, + -99.3879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1570.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1570.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1567.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1564.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1561.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1561.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1561.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1561.435610880881, + -97.8879433964553, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1559.935610880881, + -95.28986718510198, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1558.435610880881, + -92.69179097374867, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1556.935610880881, + -90.09371476239535, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1555.435610880881, + -87.49563855104203, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1553.935610880881, + -84.89756233968872, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1552.435610880881, + -82.2994861283354, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1550.935610880881, + -79.70140991698209, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1549.435610880881, + -77.10333370562877, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1547.935610880881, + -74.50525749427545, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1546.435610880881, + -71.90718128292214, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1544.935610880881, + -69.30910507156882, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1543.435610880881, + -66.7110288602155, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1541.935610880881, + -64.11295264886219, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1540.435610880881, + -61.514876437508875, + -1.3008612323122435 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1538.935610880881, + -58.91680022615556, + -1.3008612323122435 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-58-22_1028363610/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-58-22_1028363610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..818ef0617cd6c77df3f950e6c8c760103e06a737 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-58-22_1028363610/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.7051311456777, + 112.44950829482859, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.2051311456777, + 115.0475845061819, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 279.7051311456777, + 117.64566071753522, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.2051311456777, + 120.24373692888854, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 276.7051311456777, + 122.84181314024185, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.2051311456777, + 125.43988935159517, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 273.7051311456777, + 128.0379655629485, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.2051311456777, + 130.63604177430182, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 270.7051311456777, + 133.23411798565513, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 269.2051311456777, + 135.83219419700845, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 267.7051311456777, + 138.43027040836176, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 266.2051311456777, + 141.02834661971508, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 264.7051311456777, + 143.6264228310684, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 263.2051311456777, + 146.2244990424217, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.7051311456777, + 148.82257525377503, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 260.2051311456777, + 151.42065146512834, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 258.7051311456777, + 154.01872767648166, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 257.2051311456777, + 156.61680388783498, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 255.70513114567768, + 159.2148800991883, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 254.20513114567768, + 161.8129563105416, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 252.70513114567768, + 164.41103252189492, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 251.20513114567768, + 167.00910873324824, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 249.70513114567768, + 169.60718494460156, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 248.20513114567768, + 172.20526115595487, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 246.70513114567768, + 174.8033373673082, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 245.20513114567768, + 177.4014135786615, + 3.5864200117619234 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 245.20513114567768, + 177.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 245.20513114567768, + 180.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 245.20513114567768, + 183.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 245.20513114567768, + 186.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 245.20513114567768, + 189.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 245.20513114567768, + 192.4014135786615, + 3.5864200117619234 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 245.20513114567768, + 192.4014135786615, + 3.5864200117619234 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 245.20513114567768, + 192.4014135786615, + 3.5864200117619234 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 245.20513114567768, + 192.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 247.803207357031, + 193.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 250.40128356838432, + 195.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 252.99935977973763, + 196.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 255.59743599109095, + 198.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 258.19551220244426, + 199.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 260.7935884137976, + 201.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 263.3916646251509, + 202.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 265.9897408365042, + 204.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 268.5878170478575, + 205.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 271.18589325921084, + 207.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 273.78396947056416, + 208.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 276.3820456819175, + 210.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 278.9801218932708, + 211.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 281.5781981046241, + 213.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 284.1762743159774, + 214.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 286.77435052733074, + 216.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 289.37242673868406, + 217.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 291.97050295003737, + 219.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 294.5685791613907, + 220.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 297.166655372744, + 222.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 299.7647315840973, + 223.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 302.36280779545064, + 225.4014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 304.96088400680395, + 226.9014135786615, + 3.5864200117619234 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 304.96088400680395, + 226.9014135786615, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 306.46088400680395, + 229.49948979001482, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 307.96088400680395, + 232.09756600136814, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 309.46088400680395, + 234.69564221272145, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 310.96088400680395, + 237.29371842407477, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 312.46088400680395, + 239.89179463542808, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 313.96088400680395, + 242.4898708467814, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 315.46088400680395, + 245.08794705813472, + 3.5864200117619234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 316.96088400680395, + 247.68602326948803, + 3.5864200117619234 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-9-0_2021303708/pose.jsonl b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-9-0_2021303708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb5789115f14ceb2c414a7c148cb8b3f2633c23e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/long/2025-1-17_9-9-0_2021303708/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 761.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 764.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 767.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 770.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 773.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 776.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 779.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 782.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 785.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 788.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 791.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 794.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 797.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 800.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 803.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 806.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 809.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 812.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 815.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 818.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 821.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 824.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 827.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 830.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 830.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 830.8587739257948, + -418.6473077430992, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 832.3587739257948, + -416.0492315317459, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 833.8587739257948, + -413.45115532039256, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 835.3587739257948, + -410.85307910903924, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 836.8587739257948, + -408.2550028976859, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 838.3587739257948, + -405.6569266863326, + -0.43252548746000574 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 838.3587739257948, + -405.6569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 840.9568501371482, + -404.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 843.5549263485016, + -402.6569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 846.1530025598549, + -401.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 848.7510787712083, + -399.6569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 851.3491549825617, + -398.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 853.9472311939151, + -396.6569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 856.5453074052684, + -395.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 859.1433836166218, + -393.6569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 861.7414598279752, + -392.1569266863326, + -0.43252548746000574 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 861.7414598279752, + -392.1569266863326, + -0.43252548746000574 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 861.7414598279752, + -392.1569266863326, + -0.43252548746000574 + ], + "type": "turn left", + "value": 30, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 861.7414598279752, + -392.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 861.7414598279752, + -389.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 861.7414598279752, + -386.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 861.7414598279752, + -383.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 861.7414598279752, + -380.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 861.7414598279752, + -377.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 861.7414598279752, + -374.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 861.7414598279752, + -371.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 861.7414598279752, + -368.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 861.7414598279752, + -365.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 861.7414598279752, + -362.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 861.7414598279752, + -359.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 861.7414598279752, + -356.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 861.7414598279752, + -353.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 861.7414598279752, + -350.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 861.7414598279752, + -347.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 861.7414598279752, + -344.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 861.7414598279752, + -341.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 861.7414598279752, + -338.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 861.7414598279752, + -335.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 861.7414598279752, + -332.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 861.7414598279752, + -329.1569266863326, + -0.43252548746000574 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 861.7414598279752, + -329.1569266863326, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 863.2414598279752, + -326.5588504749793, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 864.7414598279752, + -323.960774263626, + -0.43252548746000574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 866.2414598279752, + -321.36269805227266, + -0.43252548746000574 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_10-31-5_478307629/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_10-31-5_478307629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6d3060796428105042b77d419f3e7234fd282b3 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_10-31-5_478307629/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1346.1081086096378, + 1832.2556199970213, + 82.07870499215441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1344.6081086096378, + 1829.657543785668, + 82.07870499215441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1343.1081086096378, + 1827.0594675743146, + 82.07870499215441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1341.6081086096378, + 1824.4613913629612, + 82.07870499215441 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "arched entrance", + "position": [ + -1311.61328, + 1779.44906, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_10-37-10_1322710936/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_10-37-10_1322710936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dec8af94978398e1d9ff547b0e92b4d0c9944523 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_10-37-10_1322710936/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1734.0424128115515, + 1990.2700368964838, + 91.8090415394893 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1731.0424128115515, + 1990.2700368964838, + 91.8090415394893 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1728.0424128115515, + 1990.2700368964838, + 91.8090415394893 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1728.0424128115515, + 1990.2700368964838, + 91.8090415394893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1725.444336600198, + 1988.7700368964838, + 91.8090415394893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1722.8462603888447, + 1987.2700368964838, + 91.8090415394893 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1722.8462603888447, + 1987.2700368964838, + 91.8090415394893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1721.3462603888447, + 1984.6719606851304, + 91.8090415394893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1719.8462603888447, + 1982.073884473777, + 91.8090415394893 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "tall with many windows", + "position": [ + -1681.09172, + 1959.53938, + 0.0 + ], + "shape": "rectangular", + "dir": "left", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-14-13_1145975358/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-14-13_1145975358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53963566eb767181457779c3516d3c91a11b2b45 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-14-13_1145975358/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 778.953498292003, + 1560.735985935894, + 91.14903315580567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 777.453498292003, + 1563.3340621472473, + 91.14903315580567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 775.953498292003, + 1565.9321383586007, + 91.14903315580567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 774.453498292003, + 1568.530214569954, + 91.14903315580567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 772.953498292003, + 1571.1282907813074, + 91.14903315580567 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 772.953498292003, + 1571.1282907813074, + 91.14903315580567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 772.953498292003, + 1574.1282907813074, + 91.14903315580567 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "ornate detailing", + "position": [ + 750.71844, + 1631.4195300000001, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-28-27_39848341/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-28-27_39848341/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..166b0ed954b9e93555786982423cf0183c87d261 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-28-27_39848341/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1289.2103113340759, + 597.0328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1286.6122351227225, + 595.5328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1284.0141589113691, + 594.0328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1281.4160827000157, + 592.5328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1278.8180064886624, + 591.0328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1276.219930277309, + 589.5328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1273.6218540659556, + 588.0328445068806, + 73.27493693327857 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1273.6218540659556, + 588.0328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1270.6218540659556, + 588.0328445068806, + 73.27493693327857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1267.6218540659556, + 588.0328445068806, + 73.27493693327857 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "classical architectural elements", + "position": [ + 1227.90562, + 575.56934, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-53-26_2143493320/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-53-26_2143493320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..955b694a82454cf92a291a8a291cb0c43d6a582a --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_11-53-26_2143493320/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 847.899635198111, + 565.5781648469111, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 846.399635198111, + 562.9800886355579, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 844.899635198111, + 560.3820124242045, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 843.399635198111, + 557.7839362128511, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 841.899635198111, + 555.1858600014978, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 840.399635198111, + 552.5877837901444, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 838.899635198111, + 549.989707578791, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 837.399635198111, + 547.3916313674376, + 70.45587254772948 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 837.399635198111, + 547.3916313674376, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 837.399635198111, + 544.3916313674376, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 837.399635198111, + 541.3916313674376, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 837.399635198111, + 538.3916313674376, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 837.399635198111, + 535.3916313674376, + 70.45587254772948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 837.399635198111, + 532.3916313674376, + 70.45587254772948 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "classical architectural elements", + "position": [ + 823.24961, + 476.37824, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-10-58_957426576/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-10-58_957426576/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afbed77317ce21d390109ec331acbfe04febdaaa --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-10-58_957426576/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1895.9857015914238, + 1302.8109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1893.3876253800704, + 1301.3109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1890.789549168717, + 1299.8109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1888.1914729573637, + 1298.3109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1885.5933967460103, + 1296.8109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1882.995320534657, + 1295.3109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1880.3972443233035, + 1293.8109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1877.7991681119502, + 1292.3109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1875.2010919005968, + 1290.8109684012202, + 72.83768326244261 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1875.2010919005968, + 1290.8109684012202, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1873.7010919005968, + 1288.2128921898668, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1872.2010919005968, + 1285.6148159785134, + 72.83768326244261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1870.7010919005968, + 1283.01673976716, + 72.83768326244261 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "ornate facade", + "position": [ + 1846.55, + 1263.07875, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-11-29_1401262337/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-11-29_1401262337/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e06b284a15a2ebc7f90f529fb86c880f1a590bf --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-11-29_1401262337/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 767.3421141772251, + -199.0070193309131, + 80.48051045065709 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 764.7440379658717, + -200.5070193309131, + 80.48051045065709 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 762.1459617545183, + -202.0070193309131, + 80.48051045065709 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 759.547885543165, + -203.5070193309131, + 80.48051045065709 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "striped pattern", + "position": [ + 697.32461, + -236.07127, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-26-52_1607967721/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-26-52_1607967721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8abf90cdd49c8c7f5131a5b9c36437539a9916e --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-26-52_1607967721/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 814.046330276601, + 1745.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 811.4482540652477, + 1743.6872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 808.8501778538944, + 1742.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 806.252101642541, + 1740.6872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 803.6540254311876, + 1739.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 801.0559492198342, + 1737.6872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 798.4578730084809, + 1736.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 795.8597967971275, + 1734.6872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 793.2617205857741, + 1733.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 790.6636443744208, + 1731.6872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 788.0655681630674, + 1730.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 785.467491951714, + 1728.6872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 782.8694157403606, + 1727.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 780.2713395290073, + 1725.6872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 777.6732633176539, + 1724.1872299399254, + 98.69599329921893 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.0751871063005, + 1722.6872299399254, + 98.69599329921893 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "classical architectural elements", + "position": [ + 737.30148, + 1703.33406, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-35-21_233614511/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-35-21_233614511/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b60e7206687ea1be35ffeeed987188c9799cdd6 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-35-21_233614511/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1935.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1932.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1929.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1926.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1923.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1920.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1917.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1914.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1911.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1908.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1905.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1902.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1899.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1896.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1893.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1890.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1887.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1884.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1881.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1878.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1875.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1872.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1872.6201450767594, + 1430.2952413773353, + 82.99228556487324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1870.022068865406, + 1428.7952413773353, + 82.99228556487324 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "curved windows", + "position": [ + 1850.76719, + 1427.02422, + 0.0 + ], + "shape": "rectangular", + "dir": "right", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-45-53_1691635767/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-45-53_1691635767/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc4db2b3670c3228d45ae5e1cdcf0c8c99132878 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-45-53_1691635767/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -170.50318548317955, + 1244.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -170.50318548317955, + 1247.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -170.50318548317955, + 1250.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -170.50318548317955, + 1253.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -170.50318548317955, + 1256.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -170.50318548317955, + 1259.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.50318548317955, + 1262.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.50318548317955, + 1265.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -170.50318548317955, + 1268.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -170.50318548317955, + 1271.9881522980577, + 76.24589676837763 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.50318548317955, + 1274.9881522980577, + 76.24589676837763 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched windows", + "position": [ + -165.31256000000002, + 1316.73312, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-9-6_2008532428/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-9-6_2008532428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92f3da7c804483d809d1de939793f3e3ee9b45e6 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_12-9-6_2008532428/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -463.2601639524937, + 1660.7983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -465.85824016384703, + 1659.2983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -468.45631637520034, + 1657.7983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -471.05439258655366, + 1656.2983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -473.652468797907, + 1654.7983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -476.2505450092603, + 1653.2983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -478.8486212206136, + 1651.7983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -481.4466974319669, + 1650.2983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -484.04477364332024, + 1648.7983997484985, + 91.62996424489553 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -486.64284985467356, + 1647.2983997484985, + 91.62996424489553 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "dark", + "feature": "grid-like facade", + "position": [ + -522.1796899999999, + 1622.68062, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_14-3-46_1246101662/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_14-3-46_1246101662/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd6d58c6697287cea8357b7f00b646235d46a26d --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_14-3-46_1246101662/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1304.325479500882, + -61.59836226190408, + 98.99788180793793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1301.325479500882, + -61.59836226190408, + 98.99788180793793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1298.325479500882, + -61.59836226190408, + 98.99788180793793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1295.325479500882, + -61.59836226190408, + 98.99788180793793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1292.325479500882, + -61.59836226190408, + 98.99788180793793 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1292.325479500882, + -61.59836226190408, + 98.99788180793793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1289.7274032895286, + -60.09836226190408, + 98.99788180793793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1287.1293270781753, + -58.59836226190408, + 98.99788180793793 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "ornate detailing", + "position": [ + -1229.7869500000002, + -48.9261, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_14-5-34_346030096/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_14-5-34_346030096/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5754a217d486b64cc8a3e26a60fe39c1270906fc --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_14-5-34_346030096/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1333.78601121892, + 147.8781311130321, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1335.28601121892, + 150.47620732438543, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1336.78601121892, + 153.07428353573874, + 77.15906528188218 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1336.78601121892, + 153.07428353573874, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1339.3840874302734, + 154.57428353573874, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1341.9821636416268, + 156.07428353573874, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1344.5802398529802, + 157.57428353573874, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1347.1783160643336, + 159.07428353573874, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1349.776392275687, + 160.57428353573874, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1352.3744684870403, + 162.07428353573874, + 77.15906528188218 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1354.9725446983937, + 163.57428353573874, + 77.15906528188218 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "tall with many windows", + "position": [ + 1388.3484400000002, + 196.41812000000002, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-29-31_1417988751/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-29-31_1417988751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d60a493b9242739db1495081c9a64071005a1e2 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-29-31_1417988751/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 894.0141524195319, + -543.5473426738089, + 82.37614831930165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 892.5141524195319, + -540.9492664624556, + 82.37614831930165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 891.0141524195319, + -538.3511902511023, + 82.37614831930165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 889.5141524195319, + -535.7531140397489, + 82.37614831930165 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "striped pattern", + "position": [ + 854.05977, + -497.32758, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-40-54_1735551514/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-40-54_1735551514/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04b22ba9e8086968ee12f6d046029d0fccee8163 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-40-54_1735551514/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -352.5313514795405, + 1649.5218089881666, + 80.14077850134655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -349.5313514795405, + 1649.5218089881666, + 80.14077850134655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -346.5313514795405, + 1649.5218089881666, + 80.14077850134655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -343.5313514795405, + 1649.5218089881666, + 80.14077850134655 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -343.5313514795405, + 1649.5218089881666, + 80.14077850134655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -340.9332752681872, + 1648.0218089881666, + 80.14077850134655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -338.33519905683386, + 1646.5218089881666, + 80.14077850134655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -335.73712284548054, + 1645.0218089881666, + 80.14077850134655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.1390466341272, + 1643.5218089881666, + 80.14077850134655 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "ornate detailing", + "position": [ + -269.58263999999997, + 1626.16766, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-58-55_2052861120/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-58-55_2052861120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c145b887b30f4c24dd76a3162a7e6f0bd39556e9 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_15-58-55_2052861120/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 627.4205848729957, + 1738.8836073671662, + 82.17283823751717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 628.9205848729957, + 1736.2855311558128, + 82.17283823751717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 630.4205848729957, + 1733.6874549444594, + 82.17283823751717 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 631.9205848729957, + 1731.089378733106, + 82.17283823751717 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "tall with large windows", + "position": [ + 680.6825, + 1683.66, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-19-15_639854683/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-19-15_639854683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cd175f085eccebdf69f552e6818fd3f118a9f6c --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-19-15_639854683/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1474.2605249726803, + 364.8229057212743, + 74.76015209238052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1472.7605249726803, + 367.4209819326276, + 74.76015209238052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1471.2605249726803, + 370.01905814398094, + 74.76015209238052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1469.7605249726803, + 372.61713435533426, + 74.76015209238052 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "open space in center", + "position": [ + 1429.31766, + 430.52086, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-34-7_1915664225/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-34-7_1915664225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c08ab717bda918a45bd4ba420f832b8e30f4ed05 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-34-7_1915664225/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1445.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1448.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1451.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1454.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1457.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1460.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1463.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1463.5581883892705, + 695.3218837249644, + 76.04325763766987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1466.156264600624, + 693.8218837249644, + 76.04325763766987 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "classical architectural elements", + "position": [ + -1505.5234400000002, + 685.8682799999999, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-46-48_1599300131/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-46-48_1599300131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb2623e6ec1d5c54333ce9dc955f5924488853d8 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-46-48_1599300131/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 846.3729333380138, + 1737.65872907469, + 87.53537865937356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 846.3729333380138, + 1740.65872907469, + 87.53537865937356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 846.3729333380138, + 1743.65872907469, + 87.53537865937356 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "arched entrance", + "position": [ + 834.9090600000001, + 1799.87359, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-48-56_930353825/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-48-56_930353825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84a780f9603785085eabd974ef631116e2fb3e5f --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_16-48-56_930353825/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1632.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1635.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1638.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1641.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1644.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1647.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1650.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1653.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1653.3466520377583, + 792.781855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1655.9447282491117, + 791.281855101594, + 74.62861777091071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1658.542804460465, + 789.781855101594, + 74.62861777091071 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "classical architectural elements", + "position": [ + -1701.66219, + 780.46609, + 3.13059 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_17-42-22_1049561859/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_17-42-22_1049561859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b729343a42259c62601904067d5450668ecda2d --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_17-42-22_1049561859/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 811.4895150228358, + -831.9552203079952, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 811.4895150228358, + -828.9552203079952, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 811.4895150228358, + -825.9552203079952, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 811.4895150228358, + -822.9552203079952, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 811.4895150228358, + -819.9552203079952, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 811.4895150228358, + -816.9552203079952, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 811.4895150228358, + -813.9552203079952, + 73.23632623927323 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 811.4895150228358, + -813.9552203079952, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 809.9895150228358, + -811.3571440966418, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 808.4895150228358, + -808.7590678852885, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 806.9895150228358, + -806.1609916739351, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 805.4895150228358, + -803.5629154625817, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 803.9895150228358, + -800.9648392512283, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 802.4895150228358, + -798.366763039875, + 73.23632623927323 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 802.4895150228358, + -798.366763039875, + 73.23632623927323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 802.4895150228358, + -795.366763039875, + 73.23632623927323 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "grid-like facade", + "position": [ + 794.98141, + -758.95984, + 0.0 + ], + "shape": "cuboid", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_17-7-15_1385952847/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_17-7-15_1385952847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d68ce721afd01fd23330c9dfa0e765df32f0cb61 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_17-7-15_1385952847/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.5734991614889, + 1742.3043609088897, + 94.25616205973952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 404.1715753728422, + 1743.8043609088897, + 94.25616205973952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 406.7696515841955, + 1745.3043609088897, + 94.25616205973952 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "classical architectural elements", + "position": [ + 456.07667999999995, + 1779.69562, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-18-27_1029009428/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-18-27_1029009428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92b220d39a2b58f8c57cc24e5e4692df6379c7b5 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-18-27_1029009428/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1350.3644380733103, + 1177.2013385503765, + 95.79570348164074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1347.766361861957, + 1175.7013385503765, + 95.79570348164074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1345.1682856506036, + 1174.2013385503765, + 95.79570348164074 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "classical architectural elements", + "position": [ + 1291.34219, + 1133.25656, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-32-34_763187937/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-32-34_763187937/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efe5641b1b842970ea0a2ab3a1a284196698056f --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-32-34_763187937/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.3804954506785, + 1265.418638654915, + 78.86459937883644 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -173.3804954506785, + 1268.418638654915, + 78.86459937883644 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -173.3804954506785, + 1271.418638654915, + 78.86459937883644 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "ornate facade", + "position": [ + -166.25092, + 1348.01719, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-4-9_1042080532/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-4-9_1042080532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ac9b838a1895b7e98325d20475d139c681971b7 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-4-9_1042080532/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1097.2512469746523, + 1182.8680689240232, + 75.1402994182074 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1099.8493231860057, + 1181.3680689240232, + 75.1402994182074 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1102.447399397359, + 1179.8680689240232, + 75.1402994182074 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1105.0454756087124, + 1178.3680689240232, + 75.1402994182074 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1107.6435518200658, + 1176.8680689240232, + 75.1402994182074 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "dark", + "feature": "striped pattern", + "position": [ + 1154.27359, + 1144.45359, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-42-33_1560268824/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-42-33_1560268824/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f7d8266891852452b99d1b52261c9413da63c0e --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_18-42-33_1560268824/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 511.7045513117688, + -735.1547601760049, + 88.31144245370801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 509.1064751004155, + -733.6547601760049, + 88.31144245370801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 506.50839888906216, + -732.1547601760049, + 88.31144245370801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 503.91032267770885, + -730.6547601760049, + 88.31144245370801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 501.31224646635553, + -729.1547601760049, + 88.31144245370801 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "ornate detailing", + "position": [ + 456.96805, + -705.28641, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_19-9-33_894964680/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_19-9-33_894964680/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..706602f3aea547ee1c41687ccd887d4f3549b26d --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_19-9-33_894964680/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -947.6392103499763, + 1076.5875452060438, + 78.07405684643754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -946.1392103499763, + 1073.9894689946905, + 78.07405684643754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -944.6392103499763, + 1071.391392783337, + 78.07405684643754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -943.1392103499763, + 1068.7933165719837, + 78.07405684643754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -941.6392103499763, + 1066.1952403606304, + 78.07405684643754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -940.1392103499763, + 1063.597164149277, + 78.07405684643754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -938.6392103499763, + 1060.9990879379236, + 78.07405684643754 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched entrance", + "position": [ + -910.0333599999999, + 1023.26922, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_2-58-25_1130698571/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_2-58-25_1130698571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90a741debe95a95ed443a869ca6dc579c8107cc8 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_2-58-25_1130698571/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1912.2478556771193, + 1188.508791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1909.649779465766, + 1187.008791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1907.0517032544126, + 1185.508791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1904.4536270430592, + 1184.008791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1901.8555508317058, + 1182.508791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1899.2574746203525, + 1181.008791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1896.659398408999, + 1179.508791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1894.0613221976457, + 1178.008791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1891.4632459862923, + 1176.508791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1888.865169774939, + 1175.008791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1886.2670935635856, + 1173.508791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1883.6690173522322, + 1172.008791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1881.0709411408789, + 1170.508791233635, + 80.19468867662935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1878.4728649295255, + 1169.008791233635, + 80.19468867662935 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "arched entrance", + "position": [ + 1846.65031, + 1154.52133, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_20-23-45_63473287/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_20-23-45_63473287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8c9ec69ff020d44a4873ffd5d7bb6bca144ea8e --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_20-23-45_63473287/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 212.52769987712304, + 1182.6203682128507, + 75.5884027971241 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 214.02769987712304, + 1180.0222920014974, + 75.5884027971241 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 215.52769987712304, + 1177.424215790144, + 75.5884027971241 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 217.02769987712304, + 1174.8261395787906, + 75.5884027971241 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 218.52769987712304, + 1172.2280633674372, + 75.5884027971241 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 220.02769987712304, + 1169.6299871560839, + 75.5884027971241 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched windows", + "position": [ + 251.43684000000002, + 1123.71219, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_20-26-5_966488613/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_20-26-5_966488613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6b0e8b4a7d63d8a5ed9badc52ef234b72a72c46 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_20-26-5_966488613/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1045.7932764001287, + 1416.5691990716193, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1044.2932764001287, + 1419.1672752829727, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1042.7932764001287, + 1421.765351494326, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1041.2932764001287, + 1424.3634277056794, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1039.7932764001287, + 1426.9615039170328, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1038.2932764001287, + 1429.5595801283862, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1036.7932764001287, + 1432.1576563397396, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1035.2932764001287, + 1434.755732551093, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1033.7932764001287, + 1437.3538087624463, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1032.2932764001287, + 1439.9518849737997, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1030.7932764001287, + 1442.549961185153, + 75.51828443276955 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1030.7932764001287, + 1442.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1030.7932764001287, + 1445.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1030.7932764001287, + 1448.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1030.7932764001287, + 1451.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1030.7932764001287, + 1454.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1030.7932764001287, + 1457.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1030.7932764001287, + 1460.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1030.7932764001287, + 1463.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1030.7932764001287, + 1466.549961185153, + 75.51828443276955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1030.7932764001287, + 1469.549961185153, + 75.51828443276955 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "ornate detailing", + "position": [ + 1025.64867, + 1481.1520300000002, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_21-58-58_665228399/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_21-58-58_665228399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..926137a12fe96ae167b0e35e23aafdaa07d6343f --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_21-58-58_665228399/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1321.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1318.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1315.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1312.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1309.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1306.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1303.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1300.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1297.136556264882, + 717.2792204960283, + 70.001083278485 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "many windows", + "position": [ + -1228.89148, + 714.7482799999999, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_21-8-4_117413002/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_21-8-4_117413002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..927250f16182fc6fe578dbabe669be687ebe7f34 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_21-8-4_117413002/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1053.5375079253852, + 1816.131180093383, + 77.45575196470914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1052.0375079253852, + 1813.5331038820295, + 77.45575196470914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1050.5375079253852, + 1810.9350276706762, + 77.45575196470914 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "ornate detailing", + "position": [ + 1006.71258, + 1767.92266, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-2-51_2103816215/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-2-51_2103816215/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c9a755f69d5b3b6072236c578ed8d7ae131e1c8 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-2-51_2103816215/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1461.1231972983771, + 982.4899481033583, + 91.79030329416761 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1461.1231972983771, + 985.4899481033583, + 91.79030329416761 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1461.1231972983771, + 988.4899481033583, + 91.79030329416761 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "elevated structure", + "position": [ + 1443.42047, + 1064.49656, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-25-2_1767405991/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-25-2_1767405991/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..835881878f7066ae0eb1252ae37f64ea0ca6c3c3 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-25-2_1767405991/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1509.0420012861969, + 603.1490658700093, + 70.05913539452354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1510.5420012861969, + 605.7471420813627, + 70.05913539452354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1512.0420012861969, + 608.345218292716, + 70.05913539452354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1513.5420012861969, + 610.9432945040694, + 70.05913539452354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1515.0420012861969, + 613.5413707154228, + 70.05913539452354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1516.5420012861969, + 616.1394469267761, + 70.05913539452354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1518.0420012861969, + 618.7375231381295, + 70.05913539452354 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "dark", + "feature": "glass facade", + "position": [ + 1562.7478099999998, + 677.30188, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-39-14_367085193/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-39-14_367085193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06d3faeaa4154ea6b59f0fad69c27994c13dd666 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_22-39-14_367085193/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1882.0153803755686, + 1188.9935361720648, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1880.5153803755686, + 1186.3954599607114, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1879.0153803755686, + 1183.797383749358, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1877.5153803755686, + 1181.1993075380046, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1876.0153803755686, + 1178.6012313266513, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1874.5153803755686, + 1176.0031551152979, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1873.0153803755686, + 1173.4050789039445, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1871.5153803755686, + 1170.8070026925911, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1870.0153803755686, + 1168.2089264812378, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1868.5153803755686, + 1165.6108502698844, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1867.0153803755686, + 1163.012774058531, + 92.91606010143866 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1865.5153803755686, + 1160.4146978471776, + 92.91606010143866 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "elevated central section", + "position": [ + 1846.22578, + 1116.83703, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_23-47-16_442366146/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_23-47-16_442366146/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..027f3f2c3f81574fcb140ae85e6c9cb64bcb7dd7 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_23-47-16_442366146/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1434.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1431.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1428.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1425.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1422.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1419.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1416.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1413.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1410.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1410.9943079457837, + 694.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1408.3962317344303, + 693.0926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1405.798155523077, + 691.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1403.2000793117236, + 690.0926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1400.6020031003702, + 688.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1398.0039268890168, + 687.0926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1395.4058506776635, + 685.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1392.80777446631, + 684.0926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1390.2096982549567, + 682.5926881375457, + 86.77501852137107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1387.6116220436033, + 681.0926881375457, + 86.77501852137107 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "many windows", + "position": [ + -1343.59609, + 665.9292999999999, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-24-9_1038626924/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-24-9_1038626924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e58df2c68686110182c77f7d7ffe48fcd22df226 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-24-9_1038626924/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -53.365231627329905, + 1705.114079076171, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.865231627329905, + 1707.7121552875244, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -56.365231627329905, + 1710.3102314988778, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -57.865231627329905, + 1712.9083077102312, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -59.365231627329905, + 1715.5063839215845, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -60.865231627329905, + 1718.104460132938, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -62.365231627329905, + 1720.7025363442913, + 86.94836211432596 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -62.365231627329905, + 1720.7025363442913, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -62.365231627329905, + 1723.7025363442913, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -62.365231627329905, + 1726.7025363442913, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -62.365231627329905, + 1729.7025363442913, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -62.365231627329905, + 1732.7025363442913, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -62.365231627329905, + 1735.7025363442913, + 86.94836211432596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -62.365231627329905, + 1738.7025363442913, + 86.94836211432596 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched entrance", + "position": [ + -77.09456, + 1785.90578, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-32-52_217927335/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-32-52_217927335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edda77483d6141bb2db188bff1bab594279622cd --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-32-52_217927335/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 542.9304847158679, + 1360.2991751569907, + 94.69062136469371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 545.5285609272212, + 1361.7991751569907, + 94.69062136469371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 548.1266371385746, + 1363.2991751569907, + 94.69062136469371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 550.7247133499279, + 1364.7991751569907, + 94.69062136469371 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "classical architectural elements", + "position": [ + 618.5425, + 1423.8871900000001, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-57-10_380390179/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-57-10_380390179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19df4a66a304b8f61057ef68827bf8d6fa562073 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-57-10_380390179/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1003.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1000.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -997.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -994.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -991.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -988.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -985.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -982.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -979.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -976.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -973.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -970.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -967.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -964.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -964.0813747608898, + 1033.2883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -961.4832985495366, + 1031.7883610875415, + 97.17518163493756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -958.8852223381832, + 1030.2883610875415, + 97.17518163493756 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched entrance", + "position": [ + -910.0333599999999, + 1023.26922, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-58-26_235202254/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-58-26_235202254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bf986862baf41c4c1b1f5c06bc8142d9da1d420 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_3-58-26_235202254/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -352.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -349.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -346.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -343.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -340.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -337.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -334.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -334.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -334.256814270678, + 1647.9560581595788, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -332.756814270678, + 1650.5541343709322, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -331.256814270678, + 1653.1522105822855, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -329.756814270678, + 1655.750286793639, + 85.951519687098 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -328.256814270678, + 1658.3483630049923, + 85.951519687098 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "classical architectural elements", + "position": [ + -293.75332, + 1680.22906, + 0.0 + ], + "shape": "rectangular", + "dir": "right", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_4-39-8_1304811783/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_4-39-8_1304811783/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..671960ad6954bea569374ec41b9374713255fa8c --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_4-39-8_1304811783/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1550.823655716416, + 345.83843698157716, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1552.323655716416, + 348.4365131929305, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1553.823655716416, + 351.0345894042838, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1555.323655716416, + 353.6326656156371, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1556.823655716416, + 356.2307418269904, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1558.323655716416, + 358.82881803834374, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1559.823655716416, + 361.42689424969706, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1561.323655716416, + 364.0249704610504, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1562.823655716416, + 366.6230466724037, + 72.89210214893497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1564.323655716416, + 369.221122883757, + 72.89210214893497 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched windows", + "position": [ + -1586.31391, + 407.97641000000004, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_5-14-43_1887665154/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_5-14-43_1887665154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..288960aabac25297c5070e030eaaa2b14c15245a --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_5-14-43_1887665154/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 400.4770108772601, + 1748.7547019689005, + 85.6236584722113 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 400.4770108772601, + 1745.7547019689005, + 85.6236584722113 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 400.4770108772601, + 1742.7547019689005, + 85.6236584722113 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.4770108772601, + 1739.7547019689005, + 85.6236584722113 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "elevated structure", + "position": [ + 414.72992, + 1683.10438, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_5-59-56_592456289/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_5-59-56_592456289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94f99033b3a2a67b304715c964a93a4bd28e8dad --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_5-59-56_592456289/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1261.7658349045287, + -782.3346390980229, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1260.2658349045287, + -779.7365628866696, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.7658349045287, + -777.1384866753162, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1257.2658349045287, + -774.5404104639629, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1255.7658349045287, + -771.9423342526095, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1254.2658349045287, + -769.3442580412561, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1252.7658349045287, + -766.7461818299028, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1251.2658349045287, + -764.1481056185494, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1249.7658349045287, + -761.550029407196, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1248.2658349045287, + -758.9519531958426, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1246.7658349045287, + -756.3538769844893, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1245.2658349045287, + -753.7558007731359, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1243.7658349045287, + -751.1577245617825, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1242.2658349045287, + -748.5596483504291, + 71.16508152331687 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1242.2658349045287, + -748.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1242.2658349045287, + -745.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1242.2658349045287, + -742.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1242.2658349045287, + -739.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1242.2658349045287, + -736.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1242.2658349045287, + -733.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1242.2658349045287, + -730.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1242.2658349045287, + -727.5596483504291, + 71.16508152331687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1242.2658349045287, + -724.5596483504291, + 71.16508152331687 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "classical architectural details", + "position": [ + 1230.03453, + -690.6132799999999, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_6-26-12_1812718902/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_6-26-12_1812718902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c448c82dc71495fa5cc9cc4f0120bac35eef734 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_6-26-12_1812718902/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1055.20240126372, + 929.5163078040085, + 76.92913309883112 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1056.70240126372, + 926.9182315926553, + 76.92913309883112 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1058.20240126372, + 924.3201553813019, + 76.92913309883112 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1059.70240126372, + 921.7220791699485, + 76.92913309883112 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched windows", + "position": [ + 1080.5998399999999, + 837.47719, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_6-52-17_532495011/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_6-52-17_532495011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7cbbc910d04bb52b037d82cac54bc25381d4c7ac --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_6-52-17_532495011/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1218.0586637460883, + 743.4162565360772, + 79.2636467979132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1216.5586637460883, + 740.8181803247239, + 79.2636467979132 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1215.0586637460883, + 738.2201041133706, + 79.2636467979132 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "gray", + "feature": "glass windows", + "position": [ + -1180.2543799999999, + 690.03703, + 0.0 + ], + "shape": "square", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_7-18-24_1256273378/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_7-18-24_1256273378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc5e2f5c4576695b83a92659c47dd7222eec6528 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_7-18-24_1256273378/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1310.2605042662974, + 11.93227807773917, + 91.76280807013501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1307.662428054944, + 10.43227807773917, + 91.76280807013501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1305.0643518435907, + 8.93227807773917, + 91.76280807013501 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "dark", + "feature": "grid-like facade", + "position": [ + 1243.2075, + -24.31245, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_7-35-7_240959156/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_7-35-7_240959156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f4391741207e4ae2519e9a98faf7f63d3bfaac8 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_7-35-7_240959156/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 112.83984179431557, + 1837.806956267741, + 95.964105117728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 110.24176558296226, + 1836.306956267741, + 95.964105117728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 107.64368937160894, + 1834.806956267741, + 95.964105117728 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "red", + "feature": "tall with many windows", + "position": [ + 46.1228, + 1813.13688, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "high-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_9-31-57_1038828826/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_9-31-57_1038828826/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b4bdb149957eba5e39250726dd3bec7b35113ba --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_9-31-57_1038828826/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1783.117773285348, + 600.3206868342161, + 98.6578654716512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1780.5196970739946, + 601.8206868342161, + 98.6578654716512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1777.9216208626412, + 603.3206868342161, + 98.6578654716512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1775.3235446512879, + 604.8206868342161, + 98.6578654716512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1772.7254684399345, + 606.3206868342161, + 98.6578654716512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1770.1273922285811, + 607.8206868342161, + 98.6578654716512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1767.5293160172278, + 609.3206868342161, + 98.6578654716512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1764.9312398058744, + 610.8206868342161, + 98.6578654716512 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched windows", + "position": [ + 1720.12469, + 635.14965, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_9-58-9_1891066487/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_9-58-9_1891066487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abe15fb374a5a013d150d3bcee39571ec4fbce82 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-4_9-58-9_1891066487/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -848.4563342059423, + 481.7505964665366, + 87.25372836695155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -851.4563342059423, + 481.7505964665366, + 87.25372836695155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -854.4563342059423, + 481.7505964665366, + 87.25372836695155 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "white", + "feature": "ornate facade", + "position": [ + -942.87406, + 489.84355000000005, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-12-34_243444543/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-12-34_243444543/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..337f4d6a7949643626a649f0b5bebe28c94a0b4e --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-12-34_243444543/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -197.3664990873147, + 1731.257591795338, + 84.77806395206197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -194.7684228759614, + 1732.757591795338, + 84.77806395206197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -192.17034666460808, + 1734.257591795338, + 84.77806395206197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -189.57227045325476, + 1735.757591795338, + 84.77806395206197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -186.97419424190144, + 1737.257591795338, + 84.77806395206197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -184.37611803054813, + 1738.757591795338, + 84.77806395206197 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -181.7780418191948, + 1740.257591795338, + 84.77806395206197 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "elevated structure", + "position": [ + -116.73251, + 1767.0054699999998, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-35-26_746926210/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-35-26_746926210/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4094e8ea9c029d2205192d796d0d9a1ad0fe6548 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-35-26_746926210/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1350.2231278387492, + 1182.0333905691698, + 80.17551605785845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1347.2231278387492, + 1182.0333905691698, + 80.17551605785845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1344.2231278387492, + 1182.0333905691698, + 80.17551605785845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1341.2231278387492, + 1182.0333905691698, + 80.17551605785845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1338.2231278387492, + 1182.0333905691698, + 80.17551605785845 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1338.2231278387492, + 1182.0333905691698, + 80.17551605785845 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1338.2231278387492, + 1182.0333905691698, + 80.17551605785845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1336.7231278387492, + 1179.4353143578164, + 80.17551605785845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1335.2231278387492, + 1176.837238146463, + 80.17551605785845 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "tan", + "feature": "arched windows", + "position": [ + -1282.21117, + 1162.23422, + 0.0 + ], + "shape": "rectangular", + "dir": "left", + "size": "mid-rise", + "type": "building" + } +} diff --git a/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-42-14_363316653/pose.jsonl b/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-42-14_363316653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cdeac14f48fa9c011d4ddbc1c7c6b5cd398f304 --- /dev/null +++ b/Image/env_ue_bigcity/astar_data/high_short/2025-1-5_0-42-14_363316653/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 790.9199507599444, + 643.3463459567646, + 70.32627618611376 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 790.9199507599444, + 646.3463459567646, + 70.32627618611376 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 790.9199507599444, + 649.3463459567646, + 70.32627618611376 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 790.9199507599444, + 652.3463459567646, + 70.32627618611376 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 790.9199507599444, + 655.3463459567646, + 70.32627618611376 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "beige", + "feature": "arched windows", + "position": [ + 789.43523, + 736.15016, + 0.0 + ], + "shape": "rectangular", + "dir": "center", + "size": "mid-rise", + "type": "building" + } +}